Four-rotor flying robot maneuvering formation control method for wireless speed measurement

Abstract

The invention discloses a four-rotor flying robot maneuvering formation control method for wireless speed measurement, and the method comprises the steps: building a kinetic model of each four-rotor flying robot by employing a Newton-Euler equation for a multi-four-rotor flying robot system capable of maneuvering in a three-dimensional space; based on an auxiliary filtering signal generator, introducing second-order signals of a plurality of auxiliary variables to eliminate the requirement for linear speed measurement in formation control of the multi-four-rotor flying robot; and finally, based on a geometric control method, designing a nonlinear control law comprising an inner and outer ring cascade structure on the Euclidean group SE (3), the inner ring controlling attitude dynamics andthe outer ring coordinating translation dynamics of each four-rotor flying robot to realize a high maneuvering formation control target. Compared with the prior art, the control law (net thrust and body torque) involved in the method does not depend on the linear velocity vector, that is, the four-rotor flying robot maneuvering formation control method provided by the invention realizes wireless velocity, and does not need linear velocity measurement.

Description

technical field [0001] The invention mainly relates to the field of formation control of four-rotor flying robots, in particular to a mobile formation control method of four-rotor flying robots with wireless speed measurement. Background technique [0002] Flying robot formation control is an active research area due to its wide applications in search and rescue, reconnaissance, surveillance, and relay communication. Quadrotor flying robots have become a popular research platform for flying robots due to their simple structure and vertical take-off and landing capabilities. Since the quadrotor flying robot has only four independent inputs and has six degrees of freedom, the quadrotor flying robot is an underactuated system. The underactuated and nonlinear coupling characteristics of a quadrotor flying robot make it difficult to control its motion. There have been some studies on the formation control of quadrotor flying robots, and their formation control methods can be di...

AI Technical Summary

Problems solved by technology

The underactuated and nonlinear coupling characteristics of a quadrotor flying robot make it difficult to control its motion

[0004] Therefore, designing a mobile formation control method for four-rotor flying robots with wireless speed measurement to solve the problem of distributed formation control without linear speed measurement has become a technical problem that people in the field need to solve urgently

Images