Distributed Formation Control Of Quadrotor Aircraft With Limited Speed

In recent years,the formation of quadrotor aircraft,multi-machine cooperative control and the cooperative control of quadrotor aircraft with other kinematic bodies have attracted extensive attention.Although considerable progress has been made in the theory and application of distributed quadrotor control in the past few years,most of the results do not take into account the speed and acceleration constraints on the aircraft.In order to solve this problem,this paper studies the velocity and acceleration limitation of the quadrotor aircraft distributed formation control,taking into account the fixed communication topology and switching topology,respectively,using the nonlinear small-gain theorem and invariant set principle to design the distributed formation controller with cascade structure to achieve the distributed formation control of multiple quadrotors with limited speed and acceleration.Firstly,this paper establishes the kinematics and dynamics model of the quadrotor aircraft according to the flight principle of the quadrotor aircraft.On this basis,this paper extends the model of single quadrotor aircraft into multiple formation,and transforms the formation control problem into the output consensus problem.Aiming at the condition of the fixed topology,this paper proposes a distributed nonlinear control algorithm,it can guarantee the velocities and accelerations of the quadrotors within specific ranges,at the same time can make each controlled quadrotor aircraft have the property of input to the output stability,and then the consistency of the output problem is converted into the stability of the interconnection systems.When the topology structure satisfies the basic connectivity condition,this paper uses the multi-cyclic small-gain theorem to ensure the stability of the whole controlled multi-quadrotor system and the realization of formation control target.If the topology changes over time,it is difficult to apply the small gain design directly.In this paper,a design method based on invariant set principle is proposed for the double integrator dynamics of each controlled quadrotor.By designing distributed formation controller,each controlled quadrotor aircraft can satisfy the specific invariant set characteristics.At the same time,when each quadrotor is correlated with each other,the whole controlled multi-quadrotor system has a invariant set.The invariant set has the property of contraction on the basis of bounded velocity and acceleration.When the switching topology satisfies the basic joint connectivity condition,the output consistency of the multi-quadrotor can be proved,so as to ensure the formation control.The effectiveness of the proposed algorithm is verified by numerical simulation and physical experiments.