| With the advent of the era of "cluster intelligence",the importance of multi-agent cooperative control has been further amplified.As the most representative type of intelligent agent,the quadrotor UAV has many application scenarios and has attracted extensive research.As the most suitable execution object,target-enclosing control is of great significance in the cooperative control of multi quadrotor UAVs.Aiming at the problem of cooperative targetenclosing control for multi quadrotor UAVs,this thesis attempts to introduce passivity control theory to design distributed control laws for each quadrotor UAV in the cluster to achieve the control goal of target-enclosing.The main content of this article is as follows:1)A design method for multi quadrotor UAVs target-enclosing controller based on passivity control theory and artificial potential field method is proposed.On the one hand,the artificial potential field method provides a clear and concise mathematical expression for the constraints of the constraint conditions that are difficult to express in multi quadrotor UAVs target-enclosing control.It has been verified that it can well achieve target-enclosing based on various distance-dependent desired constraints.On the other hand,passivity control theory provides stability criteria for the artificial potential field method,which solves the problem that the artificial potential field method cannot ensure system stability.In addition,through feedback of parameters related to the position loop in the attitude loop design,the feedback of the attitude subsystem can ensure the expected attitude convergence of the aircraft,and form an interconnection structure between two passivity systems,which can ensure the stability of the entire system.2)A control strategy based on passive control theory is proposed to solve the problem of the self-containment control for a quadrotor UAV cluster.This strategy is distributed designed for the followers in the group.Based on the framework of passive control theory,the self-containment of a quadrotor UAV cluster is realized,and the stability criterion is given.The movement states of the quadrotor UAV leader group during the self-containment process are taken from the multi quadrotor UAVs target-encolsing control in the previous chapter,forming a good linkage. |
