基于图论法的四旋翼三角形结构编队控制
On the study of a multi-quadrotor formation control with triangular structure based on Graph theory

针对四旋翼无人机编队控制, 提出了一种基于图论法的四旋翼三角形结构编队. 本文将四旋翼无人机编队整体视为一幅有向图, 四旋翼为有向图中的点, 四旋翼间的距离及通讯状态为有向图的边; 结合Leader-Follower理论, 通过相应的距离反馈控制律对领航者和跟随者设计不同的控制策略; 进而使三架四旋翼无人机彼此间相对的 距离收敛到一个稳定的值, 最终形成一个固定的三角形结构编队. 仿真研究和结果验证了本文提出编队控制策略的有效性和优越性.
In this paper, a multi-quadrotor formation control scheme based on Graph theory is proposed for controlling three quadrotors forming a triangular structure. The whole quadrotor formation structure is viewed as a weighted graph,each quadrotor is mapped to the point of the graph, and the distance and communication between quadrotors are mapped to the line of the graph. By combining with Leader-Follower method, we design different formation control scheme for the leader quadrotor as well as the follower quadrotor through distance feedback control, resulting that three quadrotors can utilize the relative distance mutually and converge to a stable value. The quadrotor formation structure will forma fixed triangular structure in the end. Simulation studies demonstrate the effectiveness and superiority of the proposed multi-quadrotor formation control scheme.