On Cooperative Control Algorithm Of Heterogeneous Multi-vehicle System

With the development of science and technology,the cooperative control of heterogeneous system has attracted much attention.the field of collaborative control contains uav formation,intelligent robot formation,fixed wing aircraft formation cruise and so on.In military application,fixed wing aircraft has the advantage of high speed,while helicopter has the advantage of flexible mobility.However,considering the economic and experimental conditions,it is difficult to conduct experimental verification for the cooperative formation control of fixed wing and helicopter.Therefore,this paper studies the cooperative control and experimental verification of two kinds of heterogeneous vehicles,a 3-DOF helicopter and a quadrotor experimental platform.The prototype of the 3-dof helicopter is Boeing CH-47 Chinook transport helicopter.The quadrotor experimental platform can be regarded as the attitude loop of fixed wing aircraft.This paper studies the swarm formation algorithm based on helicopter and fixed wing aircraft,and carries out theoretical verification on 3-dof helicopter and quadrotor experimental platform.Firstly,a backstepping control strategy was adopted to design the controller for a 3-DOF helicopter with strong coupling and underdrive characteristics,and the system was decomposed into an inner and outer loop controller by distinguishing position loop and velocity loop.This method has the advantages of modularization,disassembly and replaceable.Multi-channel simultaneous maneuvering experiments were carried out to analyze the tracking ability of ascending and descending channels and yawing channels to slow signal,fast signal and step signal,and verify the effectiveness and robustness of the controller.Secondly,in the robust controller design of quadrotor platform,the drive distribution of redundant system,nonlinear control of motor dead zone and trajectory tracking without velocity measurement and external interference are considered.In this paper,the pseudoinverse matrix method is adopted to solve the problem of drive distribution,and the speedfree measurement problem is solved by filtering differentiator.An uncertainty disturbance estimator（UDE）is designed to compensate the dead zone of the motor and external interference.The experimental results show that the influence of dead zone and external disturbance can be suppressed effectively,the steady-state performance of the system can be improved,and the system can accurately track desired attitude.The single controller of the above designed 3-DOF helicopter and quadrotor experimental platform is the basis for further design and implementation of heterogeneous cooperative controller.Then,the formation configuration of leader-follower cluster is adopted,and the control algorithm is designed by solving the corresponding stress matrix to realize affine cluster formation and solve the formation maintenance problem in cooperative control.In addition,according to affine theory and artificial potential field method,the corresponding track is designed for cluster obstacle avoidance under the condition that only the leader can obtain the environmental information,and the formation obstacle avoidance is realized.