多四旋翼无人机系统分布式分层编队合围控制

For the under-actuated quadrotor UAV swarm systems with multiple leaders and followers, a distributed hierarchical formation-containment control method is proposed. First, a hierarchical distributed finite-time sliding mode estimator is designed to achieve that each UAV can generate estimated position information that meets the control needs under the condition that only some leaders can obtain the desired trajectory. Then, considering the research object is an under-actuated six-degree-of-freedom quadrotor UAV model, a hierarchical control method of the UAV position layer and the attitude layer is proposed, which realizes the tracking control of the generated estimated position. This method adopts a high-order derivative approximation algorithm to prevent differential explosions in the process of solving the desired angular velocity. The given method can realize the effective formation-containment under the condition of satisfying the stable convergence of attitude. Finally, the accuracy and effectiveness of the proposed method are verified through numerical simulation.