| During the past ten years,the quadrotor UAV has been widely used in various fields of industry,civil and military due to its simple structure,low cost and ease of handling.With the development of the control technology for quadrotor UAV and multi-agent consistent control technology,the application of cluster formation is becoming more and more extensive.Compared with one single quadrotor UAV,multiple quadrotor UAV formation has got more advantages in improving task redundancy and increasing completion efficiency.Therefore,cluster formation control for quadrotor UAV has become one of the current research hotspots.The following five aspects will be discussed in this paper:In the first part,mathematical model of the quadrotor UAV will be established.On the basis of the spatial coordinate conversion,the force analysis of the linear and angular motion of the quadrotor UAV will be analyzed and the corresponding mathematical model will be established by using the Newton-Euler method.In the second part,a controller for quadrotor UAV will be designed.In order to deal with the constrained problem caused by UAV collisions and achieve trajectory tracking,predictive control will be used in position control.On this basis,setting reducing the amount of calculation and improving system stability as the goal,segmented aggregation strategy,terminal constraint set and terminal cost function will be used to improve the algorithm.Meanwhile,traditional PID control will be used in attitude control to achieve fast attitude response.In the third part,a distributed formation controller will be designed.A distributed communication topology will be discussed according to graph theory.In order to achieve a stable and controllable quadrotor formation flight effect,the consistency theory and the Leader-Follower method will be combined to analyze the consistency of the UAV problem.A second-order consistent distributed control protocol with a leader will be given and the stability of that will be proved.In the last part,simulation of the quadrotor UAV trajectory tracking and formation flight control will be made by using MATLAB.The simulation results that the designed quadrotor UAV trajectory tracker can handle the trajectory tracking problem well,the combination of the distributed formation controller and the track tracker can achieve stable formation control of the quadrotor UAV and the UAVs maintain a safe distance from each other will be shown. |
