Multi-unmanned aerial vehicle cooperative control system based on ADRC control and method thereof

A collaborative control, multi-UAV technology, applied in control/regulation systems, non-electric variable control, 3D position/channel control, etc.

Active Publication Date: 2020-08-04
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the present invention provides a multi-UAV cooperative control system based on ADRC control and its method, and comprehensively uses theories and methods such as UAV model building unde

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  • Multi-unmanned aerial vehicle cooperative control system based on ADRC control and method thereof
  • Multi-unmanned aerial vehicle cooperative control system based on ADRC control and method thereof
  • Multi-unmanned aerial vehicle cooperative control system based on ADRC control and method thereof

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Embodiment

[0120] The present invention uses a position controller to realize the required fixed-value control for the main UAV, and achieves the purpose of fixed-value control by eliminating the deviation between the expected position coordinates and the measured position coordinates; it proposes a multiple control method that uses passive force as the controlled variable. UAV cooperative control system, the communication between the master UAV and the slave UAV can compensate the passive force by estimating the direction and magnitude of the passive force transmitted by the load to the slave UAV so that the slave UAV The external force on the UAV is zero, realizing the real-time follow-up of the slave UAV to the master UAV, solving the problem that the slave UAV will enter the out-of-control state when the signal is interrupted in the traditional multi-UAV cooperative control, and eliminating the master-slave Drone communication is dependent on communication speed and signal quality. A...

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Abstract

The invention discloses a multi-unmanned aerial vehicle cooperative control system based on ADRC control and method thereof. The system comprises a main unmanned aerial vehicle, a slave unmanned aerial vehicle, a parameter server, a master unmanned aerial vehicle joint state publishing module M0, a main unmanned aerial vehicle deviation operation module M1, a main unmanned aerial vehicle positioncontroller response module M2, a slave unmanned aerial vehicle following control compensation module M3 based on an ADRC controller and a slave unmanned aerial vehicle position controller response module M4. According to the invention, theories and methods of unmanned aerial vehicle model building, double-unmanned aerial vehicle cooperative control simulation, ADRC control and the like under a Gazebo simulation platform are comprehensively applied; and key technical problems of stability, high response speed and efficient real-time following control of a slave unmanned aerial vehicle on a mainunmanned aerial vehicle in a multi-unmanned aerial vehicle cooperative control system in different working environments are solved.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to a multi-unmanned aerial vehicle cooperative control system and method based on ADRC control. Background technique [0002] With the development of science and technology and the maturity of scientific theory, more and more high-tech products in the past have gradually entered thousands of households. Such as unmanned aerial vehicles, many large enterprises have developed household, entertainment and professional unmanned aerial vehicles for ordinary consumers. These models are easy to operate, stable and safe to fly, and some have their own Camera. The reason why UAVs develop so rapidly is because of their small size, fast movement, and flexible control. The visual art of machine collaborative formation, etc. [0003] At present, with the vigorous development of drone technology, the emerging industry of drone cargo transportation has sprung up and entered thousa...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 刘富春兰涛黄耀斌杨煜清
Owner SOUTH CHINA UNIV OF TECH
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