A multi-UAV cooperative control system and method based on ADRC control

A collaborative control and multi-UAV technology, applied in control/adjustment system, non-electric variable control, three-dimensional position/channel control, etc., to achieve the effect of reducing load capacity, smooth carrying process, and improving performance

Active Publication Date: 2021-09-21
SOUTH CHINA UNIV OF TECH
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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 under the Gazebo simulation platform, dual UAV cooperative control simulation, and ADRC control. , to solve the key technical problems of efficient cooperation and stable flight when multiple drones work together

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  • A multi-UAV cooperative control system and method based on ADRC control
  • A multi-UAV cooperative control system and method based on ADRC control
  • A multi-UAV cooperative control system and method based on ADRC control

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[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 an ADRC-based multi-unmanned aerial vehicle cooperative control system and a method thereof. The system includes a master UAV, a slave UAV, a parameter server, a master UAV joint state release module M0, a master UAV deviation calculation module M1, a master UAV position controller response module M2, and an ADRC-based control module. The slave UAV follow control compensation module M3 and the position controller response module M4 of the slave UAV. The invention comprehensively uses theories and methods such as UAV model building under the Gazebo simulation platform, dual-UAV cooperative control simulation, ADRC control, etc., to solve the problem of slave UAVs in multi-UAV cooperative control systems under different working environments. The key technical issues of man-machine stability, fast response, and efficient real-time follow-up control.

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...

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Application Information

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Patent Type & Authority Patents(China)
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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