Research On Consistency Control Method Of Quadrotor UAV Formation

Quadrotor UAV is a type of unmanned aerial vehicle.It has the advantages of strong flexibility,simple structure,convenient operation,good stability,flexible movement and so on.It is used in agriculture,aerial photography,logistics,Transportation and other fields widely,bringing a lot of convenience to people’s life and work.However,a single drone faces a complex environment and have limited functions during flight,leading to more and more drones used by formations.In the current formation control research,on the one hand,it focuses on the mathematical modeling of quadrotors,on the one hand,it focuses on the study of the interaction between quadrotors.The structure of the quadrotor UAV is relatively complex,needing researchers to take a balance between the efficiency of execution and the authenticity of the model.Due to the large number of nodes exchanging information,researchers need to consider constructing a reasonable and efficient control protocol,while also dealing with possible interference in the system.This paper focuses on the platform design and control algorithm design of the Quadrotor UAV formation control system.First,the DJI M100 is used as the system experiment platform,the leader-follower is used to design the formation structure,the formation control algorithm is designed based on the PID algorithm.The algorithm is further optimized according to the deficiencies in actual flight,and formation control algorithm will be based on the grouping consistency and time-varying formation.The paper mainly includes:First,design an experimental platform for the formation of the entire quadrotor UAV.To build a formation system taking DJI M100 as a drone platform and combining with Zigbee module.Combined with the DJI On-Board SDK and ROS system,M100 onboard software system is built with the three module: the main task module,the intermachine communication module and the visual inspection module.The system can control by the command and parameter settings set received ground platform and correspondingly complete the main functions of ground target following,formation maintenance,track flight,formation return and other functions.Second,design control algorithms for UAV ground target following and formation following.Based on the idea of traditional PID algorithm,to solve the weakness of traditional PID in anti-jamming capability and integral saturation,a multi-mode PID controller is designed.Based on the Apriltag visual tag,the Pn P attitude settlement method is used to calculate the position and attitude information of the drone relative to the ground target,and then the multi-mode PID controller is adjusted to complete the tracking of the drone to the ground target.The leader-follower structure formation model is converted into a one-to-one tracking model of the UAV formation.Based on GPS data to settle the position and attitude information of the follower relative to the followed machine,and the formation of the formation is completed by adjusting the designed multi-mode PID controller.Finally,the multi-mode PID performance is actually simulated,and the effect of ground target following and formation following flight is analyzed through actual flight.Third,optimize the formation control algorithm and propose a group consistency control algorithm based on time-varying formation.Based on the idea of time-varying formation and grouping,an algorithm for formation consistency control is proposed.Set the parameters of the controller to be sought,and based on the in-degree equilibrium conditions,by the properties of the special roots of the non-diagonally optimized Laplacian matrix,the consistency problem of the system can be transformed into the consistency problem of the reduced-order subsystem.By the knowledge of graph theory and matrix theory,the consistency problem of the system is equivalent to the stability problem of the system.The Hurwitz stability principle is always used to obtain the necessary and sufficient conditions for system stability,that is,consistency.Finally,the consistency of the grouping based on time-varying formation is simulated by Matlab to verify the accuracy of the algorithm.