Multi-UAV Cooperative Formation Flight State Consistency Control

Since the Gulf War,the development of unmanned aerial vehicles(UAVs)has accelerated.In complex environments,different types of UAVs have excelled in performing diverse tasks and played unexpected roles.Compared to single UAVs,a swarm of UAVs will greatly expand the types of tasks that can be performed,and the effectiveness of task completion will also be significantly improved.Therefore,this article focuses on researching the obstacle avoidance,synchronization,and anti-jamming issues of multi-UAV formations using a three-degree-offreedom fixed-wing UAV as the research object.By constructing an appropriate system communication topology structure and designing synchronization algorithms based on topological information exchange,the formation coordination problem among UAVs is solved.The obstacle avoidance problem of UAVs is addressed by improving the artificial potential field method.Additionally,a cascaded ADRC algorithm is designed to estimate and compensate for time-varying disturbances affecting the position and velocity channels of each UAV in realtime,achieving consistency control of multi-UAV formation flight with the expected difference vector.Firstly,this article focuses on the design of multi-UAV formation synchronization and obstacle avoidance algorithms.A simplified second-order integration model is obtained by simplifying the kinematic and dynamic models of a three-degree-of-freedom UAV.The communication topology structure of the system is constructed,and the information exchange relationship between multiple UAVs is described using graph theory.The synchronization control variable is obtained through a multi-UAV formation model,and the formation shape design is completed based on leader-following formation theory.The expected difference vector is introduced to achieve the transformation of the formation problem to a system stability problem.An improved artificial potential field method is proposed for obstacle avoidance,and simulation verification is conducted.Secondly,a cascaded ADRC algorithm is designed for time-varying disturbance estimation and compensation in UAVs.Based on the classic PID control,the concept of "eliminating error by eliminating error" is explained.The advantages of Active Disturbance Rejection Control(ADRC)are analyzed and verified.Corresponding mathematical models are given for the influence of different time-varying disturbances on the position and velocity channels of a single UAV.Based on the cascaded PID control algorithm,a cascaded ADRC algorithm is designed to solve the control problem of two first-order objects instead of a second-order object.Simulation comparison is conducted to verify the suppression effect of the cascade selfdisturbance control algorithm on disturbances.Thirdly,the article discusses the design of a multi-UAV formation flight consistency control algorithm based on the above synchronization algorithm and cascaded ADRC algorithm.Real-time estimation and compensation of time-varying disturbances in each UAV’s position and velocity channels are performed using the cascaded ADRC algorithm.Uncertainty is reduced,and the formation shape is formed,maintained,and transformed using the expected difference vector.Finally,simulation verification is conducted using MATLAB software,and the results are analyzed and explained.In conclusion,this article summarizes the research on multi-UAV formation flight consistency control,and prospects for future research and learning.