Distributed Multi-Quadrotor Formation Containment Control Technology Based On Active Interference Compensation

In recent years,with the rapid development of four-rotor UAV flight control technology and multi-agent cooperative control theory,the research of multi-four-rotor cooperative control technology has become a research hotspot in engineering and academia.Formation containment control is an important technology for collaborative control of intelligent unmanned systems,and it is a key technology for multi-rotor systems to perform specific tasks in a complex and uncertain environment.However,the lack or inaccuracy of measurement information caused by limited shipboard resources,high-precision,fast convergence,and robust mission requirements,the unique high-order nonlinear and strong coupling model properties of quadrotors,and the coexistence of unknown multi-source interference The working scene of the multi-rotor formation has brought great challenges to the control technology of the multirotor formation.This paper takes the multi-rotor system as the research object and mainly carries out the design and analysis of the distributed formation containment controller based on the disturbance active compensation.The main research contents include:First: the four-rotor guaranteed performance containment control based on the predictive MLP neural network.Considering that traditional adaptive neural networks often have high computational complexity when identifying interference with high accuracy,and often lead to chattering of transient estimation when the initial tracking error is large,we propose a predictive MLP neural network based on prediction error drive.The network estimator not only reduces the computational burden of the quad-rotor processing system,but also improves the smooth and fast identification of interference.In addition,the preset performance mechanism is adopted to realize the a priori adjustment of the multi-rotor including the transient and steady-state control performance in flight,ensuring that the follower quad-rotor safely enters the convex hull formed by multiple leader quad-rotors,greatly reducing In a complex and severe flight environment,there is a risk of collision and communication interruption between neighboring quadcopters.At the same time,the Lyapunov stability theory is used to prove that all error signals are eventually uniformly bounded.Finally,the effectiveness of the proposed control protocol is verified through MATLAB simulation experiments.Second: Based on the extended state observer(External State Observer,ESO)designated time coordinated formation control.In view of the negative effects of unmeasurable linear velocity and angular velocity information and unknown uncertainty disturbance on the control system under the condition of limited shipboard resources,we construct the ESO in the position subsystem and the attitude subsystem of the quadrotor and reconstruct the velocity at the same time.Information and interference.Compared with the complicated parameter adjustment and heavier calculation burden of the neural estimator,ESO with fewer control parameters is more suitable for large-scale multi-rotor coordinated formation control systems,and it is strict in convergence time and control accuracy.According to the indicator requirements,we have designed a preset performance plan at a specified time to ensure that the multi-rotors form the desired formation within the preset time.Subsequently,Lyapunov theory is used to prove the stability of the proposed control scheme.Finally,the proposed multi-rotor formation control system was simulated and verified by MATLAB tools.Third: The distributed multi-rotor fixed-time formation includes double-layer control.Considering the estimation of the unmeasured state of interference by ESO,the convergence time of the estimation error increases with the increase of the initial estimation error.When the initial prediction error tends to infinity,a longer convergence time will greatly reduce the stability of control.Sex even caused collisions between quadcopters.We designed a Fixed Time External State Observer(FTESO)for the position error subsystem and the attitude error subsystem.At the same time,we reconstruct the relative interference information of the leader formation layer and the follower including the control layer and the relative interference information of the speed loop.error.In addition,for the implementation of time-critical tasks,in view of the design limitations of the progressive time and finite time controller convergence time depending on the initial state,we build a fixed-time formation including a control protocol to ensure that the leader quadrotor forms the desired formation formation within a fixed time,The follower quadrotor enters the safe convex hull area formed by the leader.Subsequently,the double limit homogeneous theory and Lyapunov method are used to prove the stability of the designed control system.Finally,the reliability and superiority of the designed control protocol are proved through simulation experiments under the MTLAB/SIMULINK environment.