Flocking control for quadrotor unmanned aerial vehicle swarm with dynamic topology

被引：0
|
作者：
Yin, Yaxuan [1 ]
Zhang, An [1 ]
Bi, Wenhao [1 ]
Yang, Pan [1 ]
Huang, Zhanjun [1 ]
机构：
[1] School of Aeronautics, Northwestern Polytechnical University, Xi'an,710072, China
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2024年 / 46卷 / 10期
关键词：
Topology;
D O I：
10.12305/j.issn.1001-506X.2024.10.24
中图分类号：
学科分类号：
摘要：
In view of the cooperative control problem of unmanned aerial vehicle (UAV) swarm without strict configuration constraints under dynamic topology, a flocking control strategy of quadrotor UAV (QUAV) swarm is proposed on the basis of cascade control idea of the inner-outer loop of QUAV. The Kalman-consensus filter (KCF) algorithm is utilized to fuse the communication data with noise, which realizes the accurate estimation of the state of leader with varying velocity. Considering the dynamic variation and scalability requirements of UAV swarm, a flocking control algorithm based on the KCF is designed to realize the position control for the UAV swarm. The stability of the proposed algorithm is proved by the Lyapunov stability theory. An attitude controller is designed for QUAV based on brain emotional learning (BEL) model, which enables the pose control for QUAV. Simulation results prove the validity of control algorithm. © 2024 Chinese Institute of Electronics. All rights reserved.
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页码：3473 / 3483
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