Heterogeneous UAV Tracking Cooperative Control with Distributed Adaptive Consensus

This paper proposes a distributed adaptive heterogeneous UAV cluster cooperative control system, which designs the unmanned system as a multi-level architecture. A consensus control algorithm for linear systems and a control model for nonlinear systems are combined. Considering the cluster formation control protocol of both quadrotor and fixed-wing aircraft dynamics models, a nonlinear model predictive control and an adaptive LQR flight controller are presented. A consistent control trajectory generation algorithm considering the dynamic constraints of heterogeneous UAVs is proposed, and the conditions for the cooperative control layer to achieve consistent control are given. Finally, combined with model predictive control and linear quadratic regulatory control, the proposed heterogeneous UAV cluster control system is simulated and analyzed.