CN112527015B - Event triggering-based firefighting unmanned aerial vehicle formation sliding mode control method - Google Patents
Event triggering-based firefighting unmanned aerial vehicle formation sliding mode control method Download PDFInfo
- Publication number
- CN112527015B CN112527015B CN202011403190.3A CN202011403190A CN112527015B CN 112527015 B CN112527015 B CN 112527015B CN 202011403190 A CN202011403190 A CN 202011403190A CN 112527015 B CN112527015 B CN 112527015B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- fire
- aerial vehicle
- sliding mode
- attitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 239000011159 matrix material Substances 0.000 claims description 30
- 238000013461 design Methods 0.000 claims description 25
- 230000008569 process Effects 0.000 claims description 13
- 238000010586 diagram Methods 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 4
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 7
- 238000011161 development Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention provides an event triggering-based firefighting unmanned aerial vehicle formation sliding mode control method, belongs to the technical field of firefighting unmanned aerial vehicle formation control, solves the problem that the existing control method cannot simultaneously give consideration to gesture control and position control of firefighting unmanned aerial vehicles, and overcomes the defects that the existing control method causes the unmanned aerial vehicle controller to be updated more frequently and fast in performance attenuation, and firstly, a model of a four-rotor unmanned aerial vehicle and a topological relation of communication among unmanned aerial vehicles need to be established. Then, a sliding mode dynamic surface based on errors is designed, and a corresponding controller is further designed by combining an event triggering mechanism, so that the rapid formation of the unmanned aerial vehicle is realized. According to the method, a position controller and a gesture controller are respectively designed according to the position and gesture information of the unmanned aerial vehicle aiming at a fire-fighting unmanned aerial vehicle model with four rotors in practical application, and formation and gesture stabilization of multiple unmanned aerial vehicles are finally realized under the action of the two controllers, so that gesture control and position control of the unmanned aerial vehicle are considered.
Description
Technical Field
The invention relates to the technical field of formation control of fire-fighting unmanned aerial vehicles, in particular to a method for controlling a sliding mode of formation of a fire-fighting unmanned aerial vehicle based on event triggering.
Background
In recent years, with development of technology of fire-fighting unmanned aerial vehicles, application fields of the fire-fighting unmanned aerial vehicles are wider and wider, and functions of the fire-fighting unmanned aerial vehicles are stronger and stronger. In addition, with the great increase of the market share of the four-rotor fire-fighting unmanned aerial vehicle, the formation of the multi-rotor fire-fighting unmanned aerial vehicle is an attractive research hot spot.
The fire-fighting unmanned aerial vehicle can play a great role in fire-fighting work of high-rise buildings, such as fire positioning, fire investigation, high-rise fire extinguishing and the like, and the work is a task which is difficult to complete for normal fire-fighting vehicles and fire fighters. Therefore, many problems related to the research of the unmanned fire-fighting plane are presented at present, but the research is also in the preliminary stage, and the unmanned fire-fighting plane cannot be widely applied to practice. And the formation control of the fire unmanned aerial vehicle is a foundation for realizing the cooperative work of multiple fire unmanned aerial vehicles. Therefore, the designed formation control algorithm has great theoretical and practical significance for the development of the unmanned aerial vehicle.
In 2019, 7.5.A four-rotor fire-fighting unmanned aerial vehicle gesture control method for event triggering is disclosed in China patent (publication No. CN 109976361A), the problem that high-precision and rapid gesture tracking control of the four-rotor fire-fighting unmanned aerial vehicle under the comprehensive effects of uncertain model parameters, unmodeled dynamics, external interference and the like is solved, the aims of saving network and computing resources and improving the system endurance capacity are achieved on the premise of guaranteeing the control performance of the four-rotor fire-fighting unmanned aerial vehicle are fulfilled, but the control method disclosed in the patent is more in updating frequency of controllers, and in addition, the method disclosed by the patent is only aimed at gesture control of the fire-fighting unmanned aerial vehicle, and cannot realize position control of the fire-fighting unmanned aerial vehicle, so that formation cooperative control among multiple fire-fighting unmanned aerial vehicles cannot be completed, and formation effect of the fire-fighting unmanned aerial vehicle cannot be guaranteed.
Disclosure of Invention
In order to solve the problems that the existing method for controlling the fire-fighting unmanned aerial vehicle cannot simultaneously give consideration to both the attitude control and the position control of the fire-fighting unmanned aerial vehicle, and overcome the defects that the existing control method causes a plurality of updates of the unmanned aerial vehicle controller and rapid performance attenuation, the invention provides the method for controlling the formation sliding mode of the fire-fighting unmanned aerial vehicle based on event triggering, which gives consideration to both the attitude control and the position control of the unmanned aerial vehicle, reduces the update times of the unmanned aerial vehicle controller, prevents the occurrence of the phenomenon of the performance attenuation of the controller and promotes the application development of the fire-fighting unmanned aerial vehicle while ensuring the excellent formation effect among a plurality of unmanned aerial vehicles.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
an event triggering-based firefighting unmanned aerial vehicle formation sliding mode control method at least comprises the following steps:
s1, establishing a model of the four-rotor fire-fighting unmanned aerial vehicle, and obtaining a continuous position dynamic equation and a continuous attitude dynamic equation of the fire-fighting unmanned aerial vehicle;
s2, confirming a communication topological relation diagram among the fire-fighting unmanned aerial vehicles based on a graph theory, and setting a formation expected by the fire-fighting unmanned aerial vehicles;
s3, solving the position error of the fire-fighting unmanned aerial vehicle according to the formation expected by the set fire-fighting unmanned aerial vehicle, designing a position sliding mode dynamic surface by utilizing the position error information, and designing a position control input quantity based on the sliding mode dynamic surface;
s4, according to the position control input quantity, calculating the expected gesture through inverse solution;
s5, solving an attitude error of the fire-fighting unmanned aerial vehicle, designing an attitude sliding mode dynamic surface by utilizing the attitude error information, and designing an attitude control input quantity based on the sliding mode dynamic surface;
s6, designing event triggering mechanisms of the position controller and the gesture controller;
s7, judging whether the position controller and/or the gesture controller meets the updating standard according to the event triggering mechanism, and if so, updating the position controller and/or the gesture controller; otherwise, not updated.
In the technical scheme, firstly, a model of the four-rotor fire-fighting unmanned aerial vehicle is built, a continuous position dynamic equation and a continuous attitude dynamic equation of the unmanned aerial vehicle are obtained, and the built model of the fire-fighting unmanned aerial vehicle is a specific model, so that the pertinence is high and the accuracy is high; then establishing a topological relation diagram of communication among unmanned aerial vehicles, giving out expected formation of formation, then solving the position error of the fire-fighting unmanned aerial vehicle, designing a position sliding mode dynamic surface by utilizing error information, designing a position control input quantity based on the sliding mode dynamic surface, solving expected gesture according to the position control input quantity, solving gesture error information, designing a gesture sliding mode dynamic surface by utilizing the error information, designing gesture control input quantity based on the sliding mode dynamic surface, designing an event trigger mechanism of a position controller and a gesture controller, judging whether to update the position controller and/or the gesture controller according to the event trigger mechanism, thereby reducing the update times of the controller, ensuring that the performance of the controller is not greatly attenuated, prolonging the service life and simultaneously giving consideration to the gesture control and the position control of the fire-fighting unmanned aerial vehicle, and realizing the rapid formation of the fire-fighting unmanned aerial vehicle.
Preferably, in step S1, a model of the four-rotor fire-fighting unmanned aerial vehicle is built, and a comprehensive expression of a continuous position dynamic equation and a continuous attitude dynamic equation of the fire-fighting unmanned aerial vehicle is obtained as follows:
i represents an ith unmanned fire-fighting plane, i=1, …, and N represents the number of unmanned fire-fighting planes; p (P) i ＝[x i ，y i ，z i ] T V (V) i ＝[v ix ，v iy ，v iz ] T Respectively represents the coordinates and the speed of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system,
representing phasor forms; g is gravity acceleration, e 3 ＝[0，0，1] T ，m i The quality of the ith firefighting unmanned aerial vehicle; theta (theta) i ＝[φ i ，θ i ，ψ i ] T 、Ω i ＝[Ω φi ，Ω θi ，Ω ψi ] T Attitude angle and angular velocity, phi respectively i ，θ i ，ψ i Respectively a roll angle, a pitch angle and a yaw angle; r (Θ) i ) A rotation matrix for representing the conversion of the fire-fighting unmanned aerial vehicle from the body coordinates to the inertial coordinates; t (Θ) i ) The transformation matrix is the attitude angular velocity and the attitude angular velocity;
rotation matrix R (Θ) for converting fire-fighting unmanned aerial vehicle from body coordinates to inertial coordinates i ) The expression is:
transformation matrix T (Θ) of angular velocity of attitude and angular velocity of attitude i ) The expression of (2) is:
wherein ,Ji Is an inertial matrix; g i Is a turning moment; u (u) i 、τ i The inputs of the position controller and the gesture controller are respectively.
Preferably, the graph theory in step S2 is an undirected graph theory, and the process of confirming the communication topological relation graph between the fire-fighting unmanned aerial vehicles based on the undirected graph theory is as follows:
let the undirected graph be denoted g= { V, E, a }, where v= {1, …, N } represents the set of nodes of the undirected graph G,
representing a set of edges in the undirected graph G; a represents a weight matrix, and the weight matrix is obtained according to the side relation of the set E of the sides in the undirected graph G, wherein A= [ a ] ij ]∈R N×N, wherein ,aij Representing elements in the weight matrix, representing the communication relation between the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j, a ij =0 or 1;
if a is ij =0 represents that fire unmanned aerial vehicle i is unconnected to fire unmanned aerial vehicle j, there is no communication; if a is ij =1 represents that fire unmanned aerial vehicle i is connected with fire unmanned aerial vehicle j, and there is communication.
Preferably, nodes of a communication topological relation diagram among fire control unmanned aerial vehicles confirmed based on undirected graph theory are bidirectional and communicated, and communication between the nodes does not exist, namely, the following conditions are satisfied: a, a ij ＝a ji ，a ii ＝0。
Preferably, the elements of any row or any column in the weight matrix a are not all zero.
Preferably, if a ij =1, the desired formation expression for the fire drone is:
P i -P j ＝p ij ，V i -V j ＝0
wherein ,Pi Representing the coordinates of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system; p (P) j Representing the coordinates of the fire-fighting unmanned aerial vehicle j under an inertial coordinate system; v (V) i The speed of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system is represented; v (V) j Representing inertial coordinates of fire-fighting unmanned plane jThe speed of tying down; p is p ij Can represent a time-varying function, can also represent a constant vector, and p ij ＝-p ji ；p ij The position vector expected by the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j.
Preferably, in step S3, according to the formation expected by the set fire-fighting unmanned aerial vehicle, the expression for solving the position error is:
wherein ,Pj Representing the coordinates of the fire-fighting unmanned aerial vehicle j under an inertial coordinate system; p (P) i Representing the coordinates of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system;
representing the position error of the fire unmanned aerial vehicle i;
the expression of the dynamic surface of the position sliding mode designed by using the position error information is as follows:
wherein ,ci，1 Parameters greater than zero that represent design requirements;
representing a position sliding mode dynamic surface;
the process of designing the position control input quantity based on the sliding mode dynamic surface comprises the following steps:
to facilitate the design of the position control input quantity, the desired position control input quantity U is controlled i The method comprises the following steps:
wherein ,υi For the designed position control input quantity, based on the sliding mode dynamic surface, designing a corresponding expected position control input is as follows:
wherein ,
are all positive parameters of the design; />
Representing parameters designed to accelerate the error to the sliding mode dynamic plane. Controlling input U according to desired position i The value of the solving position control input quantity is as follows:
υ i ＝m i [U ix (sinθ i cosφ i cosψ i +sinψ i sinθ i )+U iy (sinψ i sinθ i cosφ i -cosψ i sinθ i )+(U iz +g)cosθ i cosφ i ]。
here, if the control performance is sufficiently good,
or may be set to 0./>
Preferably, in step S4, the desired attitude Θ is obtained by inverse solution based on the position control input di ＝[φ di ，θ di ，ψ di ] T The expression of (2) is:
wherein ,ψdi Representing the desired gesture Θ di Is set at a desired yaw angle.
Preferably, in step S5, the attitude error is solved, and an attitude sliding mode dynamic surface is designed by using the attitude error information, and the process of designing the attitude control input quantity based on the sliding mode dynamic surface is as follows:
the attitude error expression of the ith fire unmanned aerial vehicle is as follows:
wherein ,
representing the attitude error of the ith firefighting unmanned aerial vehicle; theta (theta) di Representing a desired pose; theta (theta) i Representing the attitude angle;
design of attitude sliding mode dynamic surface by utilizing attitude error information
The expression of (2) is:
wherein ,ci，2 Parameters greater than zero required for design;
the expression of the attitude control input quantity based on the sliding mode dynamic surface design is as follows:
wherein ,vi Representing a design attitude control input quantity based on a sliding mode dynamic surface; j (J) i Is an inertial matrix;
for positive parameters of design, +.>
Represented as accelerating the error to the sliding mode dynamic surface.
Here, if the control performance can be good,
or may be set to 0.
Preferably, the event triggering mechanism of the position controller and the gesture controller in step S6 is:
wherein ,
all represent the moment of controller triggering; />
All represent intermediate parameters, +.>
δ i，1 、δ i，2 、∈ i，1 、∈ i，2 All are positive parameters to be designed;
the update criteria of the position controller and/or the gesture controller in step S7 are:
The updated expression of the position controller is:
the updated expression of the gesture controller is:
wherein ,ui 、τ i The inputs of the position controller and the gesture controller are respectively.
Here, updating the position controller and/or the gesture controller includes updating only the position controller, updating only the gesture controller, and updating both the position controller and the gesture controller, and the position controller and/or the gesture controller after updating ensures excellent formation effect of the fire-fighting unmanned aerial vehicle.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention provides a firefighting unmanned aerial vehicle formation sliding mode control method based on event triggering. Then, a sliding mode dynamic surface based on errors is designed, and a corresponding controller is further designed by combining an event triggering mechanism, so that the rapid formation of the unmanned aerial vehicle is realized. According to the method, aiming at a fire-fighting unmanned aerial vehicle model with four rotors in practical application, a position controller and a gesture controller are respectively designed according to the position and gesture information of the unmanned aerial vehicle, formation of a formation between multiple unmanned aerial vehicles and gesture stabilization are finally realized under the action of the two controllers, gesture control and position control of the unmanned aerial vehicle are considered, good formation effect between the multiple unmanned aerial vehicles is ensured, the updating times of the unmanned aerial vehicle controllers are reduced, performance attenuation of the controllers is prevented, and application development of the fire-fighting unmanned aerial vehicle is promoted.
Drawings
Fig. 1 shows a schematic flow chart of a method for controlling a formation slip form of a fire unmanned aerial vehicle based on event triggering according to an embodiment of the present invention;
FIG. 2 shows a control block diagram of event trigger based fire unmanned aerial vehicle formation slipform control as proposed in an embodiment of the present invention;
FIG. 3 illustrates a graph of motion during formation of a four-rotor fire-fighting unmanned aerial vehicle (four-rotor unmanned aerial vehicle) as proposed in an embodiment of the present invention;
FIG. 4 is a simulation diagram showing the position error change in the formation process of the four-rotor fire-fighting unmanned aerial vehicle according to the embodiment of the invention;
fig. 5 shows a simulation diagram of the speed error variation in the formation process of the four-rotor fire-fighting unmanned aerial vehicle according to the embodiment of the invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
for better illustration of the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent actual dimensions;
it will be appreciated by those skilled in the art that some well known descriptions in the figures may be omitted.
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Example 1
The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent;
the flow diagram of the method for controlling the formation sliding mode of the unmanned fire plane based on event triggering as shown in fig. 1 is shown in fig. 1, and the steps of the method include:
s1, establishing a model of the four-rotor fire-fighting unmanned aerial vehicle, and obtaining a continuous position dynamic equation and a continuous attitude dynamic equation of the fire-fighting unmanned aerial vehicle, wherein the expression is as follows:
i represents an ith unmanned fire-fighting plane, i=1, …, and N represents the number of unmanned fire-fighting planes; p (P) i ＝[x i ，y i ，z i ] T V (V) i ＝[v ix ，v iy ，v iz ] T Respectively represents the coordinates and the speed of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system,
representing phasor forms; g is gravity acceleration, e 3 ＝[0，0，1] T ，m i The quality of the ith firefighting unmanned aerial vehicle; theta (theta) i ＝[φ i ，θ i ，ψ i ] T 、Ω i ＝[Ω φi ，Ω θi ，Ω ψi ] T Attitude angle and angular velocity, phi respectively i ，θ i ，ψ i Respectively a roll angle, a pitch angle and a yaw angle; r (Θ) i ) A rotation matrix for representing the conversion of the fire-fighting unmanned aerial vehicle from the body coordinates to the inertial coordinates; t (Θ) i ) The transformation matrix is the attitude angular velocity and the attitude angular velocity;
rotation matrix R (Θ) for converting fire-fighting unmanned aerial vehicle from body coordinates to inertial coordinates i ) The expression is:
transformation matrix T (Θ) of angular velocity of attitude and angular velocity of attitude i ) The expression of (2) is:
wherein ,Ji Is an inertial matrix; g i Is a turning moment; u (u) i 、τ i The inputs of the position controller and the gesture controller are respectively.
S2, confirming a communication topological relation diagram among the fire-fighting unmanned aerial vehicles based on a graph theory, and setting a formation expected by the fire-fighting unmanned aerial vehicles;
the graph theory is an undirected graph theory, and the process for confirming the communication topological relation graph between the fire unmanned aerial vehicles based on the undirected graph theory comprises the following steps:
let the undirected graph be denoted g= { V, E, a }, where v= {1, …, N } represents the set of nodes of the undirected graph G,
representing a set of edges in the undirected graph G; a represents a weight matrix, and the weight matrix is obtained according to the side relation of the set E of the sides in the undirected graph G, wherein A= [ a ] ij ]∈R N×N, wherein ,aij Representing elements in the weight matrix, representing the communication relation between the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j, a ij =0 or 1;
if a is ij =0 represents that fire unmanned aerial vehicle i is unconnected to fire unmanned aerial vehicle j, there is no communication; if a is ij =1 represents that fire unmanned aerial vehicle i is connected with fire unmanned aerial vehicle j, and there is communication.
The nodes of the communication topological relation diagram among the fire unmanned aerial vehicles confirmed based on the undirected graph theory are bidirectional and communicated, and the communication between the nodes and the nodes does not exist, namely, the conditions are satisfied: a, a ij ＝a ji ，a ii ＝0。
The elements of any row or any column in the weight matrix a are not all zero.
Preferably, if a ij =1, the desired formation expression for the fire drone is:
P i -P j ＝p ij ，V i -V j ＝0
wherein ,Pi Representing the coordinates of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system; p (P) j Representing the coordinates of the fire-fighting unmanned aerial vehicle j under an inertial coordinate system; v (V) i The speed of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system is represented; v (V) j The speed of the fire-fighting unmanned plane j under an inertial coordinate system is represented; p is p ij Can represent a time-varying function, can also represent a constant vector, and p ij ＝-p ji ；p ij The position vector expected by the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j.
S3, solving the position error of the fire-fighting unmanned aerial vehicle according to the formation expected by the set fire-fighting unmanned aerial vehicle, designing a position sliding mode dynamic surface by utilizing the position error information, and designing a position control input quantity based on the sliding mode dynamic surface;
according to the formation expected by the set firefighting unmanned aerial vehicle, solving the expression of the position error is as follows:
wherein ,Pj Representing the coordinates of the fire-fighting unmanned aerial vehicle j under an inertial coordinate system; p (P) i Representing the coordinates of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system;
representing the position error of the fire unmanned aerial vehicle i;
the expression of the dynamic surface of the position sliding mode designed by using the position error information is as follows:
wherein ,ci，1 Parameters greater than zero that represent design requirements;
representing a position sliding mode dynamic surface;
the process of designing the position control input quantity based on the sliding mode dynamic surface comprises the following steps:
to facilitate the design of the position control input quantity, the desired position control input quantity U is controlled i The method comprises the following steps:
wherein ,υi Position control input for designBased on the sliding mode dynamic surface, designing corresponding expected position control input as follows:
wherein ,
are all positive parameters of the design; />
Representing parameters designed to accelerate the error to the sliding mode dynamic plane. Controlling input U according to desired position i The value of the solving position control input quantity is as follows:
υ i ＝m i [U ix (sinθ i cosφ i cosψ i +sinψ i sinθ i )+U iy (sinψ i sinθ i cosφ i -cosψ i sinθ i )+(U iz +g)cosθ i cosφ i ]. In practice, if the control performance is good enough,
or may be set to 0.
S4, according to the position control input quantity, the expected gesture is obtained through inverse solution. Desired attitude Θ di ＝[φ di ，θ di ，ψ di ] T The expression of (2) is:
wherein ,ψdi Representing the desired gesture Θ di Is set at a desired yaw angle.
S5, solving an attitude error of the fire-fighting unmanned aerial vehicle, designing an attitude sliding mode dynamic surface by utilizing the attitude error information, and designing an attitude control input quantity based on the sliding mode dynamic surface; the process for designing the attitude control input quantity based on the sliding mode dynamic surface comprises the following steps:
the attitude error expression of the ith fire unmanned aerial vehicle is as follows:
wherein ,
representing the attitude error of the ith firefighting unmanned aerial vehicle; theta (theta) di Representing a desired pose; theta (theta) i Representing the attitude angle;
design of attitude sliding mode dynamic surface by utilizing attitude error information
The expression of (2) is: />
wherein ,ci，2 Parameters greater than zero required for design;
the expression of the attitude control input quantity based on the sliding mode dynamic surface design is as follows:
wherein ,vi Representing a design attitude control input quantity based on a sliding mode dynamic surface; j (J) i Is an inertial matrix;
for positive parameters of design, +.>
Expressed as acceleration errorTo the sliding mode dynamic surface. In practical implementation, if the control performance is good,
or may be set to 0.
S6, designing event triggering mechanisms of the position controller and the gesture controller;
wherein ,
all represent the moment of controller triggering; />
All represent intermediate parameters, +.>
δ i，1 、δ i，2 、∈ i，1 、∈ i，2 All are positive parameters to be designed;
s7, judging whether the position controller and/or the gesture controller meets the updating standard according to the event triggering mechanism, and if so, updating the position controller and/or the gesture controller; otherwise, not updated. The update criteria of the position controller and/or the gesture controller in step S7 are:
The updated expression of the position controller is:
the updated expression of the gesture controller is:
wherein ,ui 、τ i The inputs of the position controller and the gesture controller are respectively.
The control block diagram based on the whole method provided in the embodiment of the invention is shown in fig. 2, and the reference is made to fig. 2, so that the coordinate P of the fire-fighting unmanned aerial vehicle j in an inertial coordinate system j Velocity V j As input to the position controller, a corresponding desired position control input U is obtained i In practice, the position controller (executor) and the gesture (executor) are triggered based on an event trigger mechanism to directly act on the four-rotor unmanned aerial vehicle model, and then the four-rotor unmanned aerial vehicle model is fed back to the position controller and the gesture updater for updating, so that sliding mode control which takes both gesture updating and position updating into consideration is realized, and the excellent formation effect of unmanned fire-fighting is ensured.
In order to better explain the effectiveness of the formation control of the unmanned aerial vehicle, the method provided by the invention is applied and simulated, and the following description is made:
first, in the simulation, the main parameters are set as follows:
g is gravity acceleration 9.8m/s 2 The quality of the ith fire-fighting unmanned aerial vehicle: m is m i ＝1.1Kg，J i ＝diag[15.6×10 -3 kg·m 2 ，15.5×10 -3 kg·m 2 ，28.3×10 -3 kg·m 2 ]，i＝1，2，3。
The initial state of the position coordinates of the fire-fighting unmanned aerial vehicle is as follows:
P 1 ＝[1，-1，0] T ，P 2 ＝[2，1，1] T ，P 3 ＝[-2，-1，-1] T ，Ω 1 ＝Ω 2 ＝Ω 3 ＝[0，0，0] T 。
the controller parameters are as follows: c 1，1 ＝c 2，1 ＝c 3，1 ＝3，c 1，2 ＝c 2，2 ＝c 3，2 ＝2.5，
/>
The expected formation of the fire unmanned aerial vehicle is set as follows: p (P) 1 -P 2 ＝[1，0，0] T ，P 1 -P 3 ＝[-1，0，0] T 。
Fig. 3 shows a motion graph of 3 fire-fighting robots in the formation process, wherein UAV1 represents a first fire-fighting robot, UAV2 represents a second fire-fighting robot, UAV3 represents a third fire-fighting robot, and as can be seen from fig. 2, the motion graph of 3 fire-fighting robots just started is disordered, but is gradually restored to be consistent later under the action of the control method provided by the invention.
Fig. 4 is a graph showing position error change in the formation process of 3 fire-fighting unmanned aerial vehicles, six curves are used, the position of the first fire-fighting unmanned aerial vehicle UAV1 is used as a reference, the position errors of the second fire-fighting unmanned aerial vehicle UAV2 and the third fire-fighting unmanned aerial vehicle UAV3 are respectively compared with the position errors of the third fire-fighting unmanned aerial vehicle UAV3 in each of the x, y and z three-dimensional spaces, and as can be seen from fig. 3, the position errors of the 3 fire-fighting unmanned aerial vehicles in the three dimensions gradually tend to be stable.
Fig. 5 shows six curves of position error change in the formation process of 3 fire-fighting unmanned aerial vehicles, namely, the speed of the first fire-fighting unmanned aerial vehicle UAV1 is used as a comparison standard, the speed errors of the second fire-fighting unmanned aerial vehicle UAV2 and the third fire-fighting unmanned aerial vehicle UAV3 are respectively compared with the speed errors of the third fire-fighting unmanned aerial vehicle UAV3 in each of the x, y and z three-dimensional spaces, and as can be seen from fig. 5, the speed errors of the 3 fire-fighting unmanned aerial vehicles in the three dimensions gradually tend to 0. Fig. 2 to 4 show that the method provided by the invention can ensure rapid formation of the unmanned aerial vehicle to achieve the expected formation, and has good control performance.
The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent;
it is to be understood that the above examples of the present invention are provided by way of illustration only and are not intended to limit the scope of the invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (9)
1. The method for controlling the formation sliding mode of the unmanned aerial vehicle based on event triggering is characterized by at least comprising the following steps:
s1, establishing a model of the four-rotor fire-fighting unmanned aerial vehicle, and obtaining a continuous position dynamic equation and a continuous attitude dynamic equation of the fire-fighting unmanned aerial vehicle;
s2, confirming a communication topological relation diagram among the fire-fighting unmanned aerial vehicles based on a graph theory, and setting a formation expected by the fire-fighting unmanned aerial vehicles;
s3, solving the position error of the fire-fighting unmanned aerial vehicle according to the formation expected by the set fire-fighting unmanned aerial vehicle, designing a position sliding mode dynamic surface by utilizing the position error information, and designing a position control input quantity based on the sliding mode dynamic surface;
step S3, according to the formation expected by the set fire unmanned aerial vehicle, solving the expression of the position error is as follows:
wherein ,Pj Representing the coordinates of the fire-fighting unmanned aerial vehicle j under an inertial coordinate system; p (P) i Representing the coordinates of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system;
representing the position error of the fire unmanned aerial vehicle i;
the expression of the dynamic surface of the position sliding mode designed by using the position error information is as follows:
wherein ,ci,1 Parameters greater than zero that represent design requirements;
representing a position sliding mode dynamic surface;
the process of designing the position control input quantity based on the sliding mode dynamic surface comprises the following steps:
control input U for command desired position i The method comprises the following steps:
wherein ,υi For the designed position control input quantity, based on the sliding mode dynamic surface, designing a corresponding expected position control input is as follows:
wherein ,
are all positive parameters of the design; />
Representing parameters designed to accelerate errors to the sliding mode dynamic surface; if the control properties are good enough->
Set to 0; controlling input U according to desired position i The value of the solving position control input quantity is as follows:
v i ＝m i [U ix (sinθ i cosφ i cosψ i +sinψ i sinθ i )+U iy (sinψ i sinθ i cosφ i -cosψ i sinθ i )+(U iz +g)cosθ i cosφ i ]；
s4, according to the position control input quantity, calculating the expected gesture through inverse solution;
s5, solving an attitude error of the fire-fighting unmanned aerial vehicle, designing an attitude sliding mode dynamic surface by utilizing the attitude error information, and designing an attitude control input quantity based on the sliding mode dynamic surface;
s6, designing event triggering mechanisms of the position controller and the gesture controller;
s7, judging whether the position controller and/or the gesture controller meets the updating standard according to the event triggering mechanism, and if so, updating the position controller and/or the gesture controller; otherwise, not updated.
2. The method for controlling the sliding mode of the formation of the fire-fighting unmanned aerial vehicle based on event triggering according to claim 1, wherein in the step S1, a model of the four-rotor fire-fighting unmanned aerial vehicle is built, and a comprehensive expression of a continuous position dynamic equation and a continuous attitude dynamic equation of the fire-fighting unmanned aerial vehicle is obtained as follows:
i represents an ith unmanned fire-fighting plane, i=1, …, and N represents the number of unmanned fire-fighting planes; p (P) i ＝[x i ,y i ,z i ] T V (V) i ＝[v ix ,v iy ,v iz ] T Respectively represents the coordinates and the speed of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system,
representing phasor forms; g is gravity acceleration, e 3 ＝[0,0,1] T ，m i The quality of the ith firefighting unmanned aerial vehicle; theta (theta) i ＝[φ i ,θ i ,ψ i ] T 、Ω i ＝[Ω φi ,Ω θi ,Ω ψi ] T The attitude angle and the attitude angle rate, phi i ,θ i ,ψ i Respectively a roll angle, a pitch angle and a yaw angle; r (Θ) i ) A rotation matrix for representing the conversion of the fire-fighting unmanned aerial vehicle from the body coordinates to the inertial coordinates; t (Θ) i ) The transformation matrix is the attitude angular velocity and the attitude angular velocity;
rotation matrix R (Θ) for converting fire-fighting unmanned aerial vehicle from body coordinates to inertial coordinates i ) The expression is:
transformation matrix T (Θ) of angular velocity of attitude and angular velocity of attitude i ) The expression of (2) is:
wherein ,Ji Is an inertial matrix; g i Is a turning moment; u (u) i 、τ i The inputs of the position controller and the gesture controller are respectively.
3. The method for controlling the sliding mode of the formation of the fire-fighting unmanned aerial vehicle based on event triggering according to claim 2, wherein the graph theory in the step S2 is an undirected graph theory, and the process of confirming the communication topological relation graph between the fire-fighting unmanned aerial vehicles based on the undirected graph theory is as follows:
let the undirected graph be denoted g= { V, E, a }, where v= {1, …, N } represents the set of nodes of the undirected graph G,
representing a set of edges in the undirected graph G; a represents a weight matrix, and the weight matrix is obtained according to the side relation of the set E of the sides in the undirected graph G, wherein A= [ a ] ij ]∈R a×N, wherein ,aij Representing elements in the weight matrix, representing the communication relation between the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j, a ij =0 or 1;
if a is ij =0, representing that fire unmanned aerial vehicle i is unconnected to fire unmanned aerial vehicle j, there is no communication; if a is ij =1, representing that fire unmanned aerial vehicle i is connected with fire unmanned aerial vehicle j, there is communication exchange.
4. The event-triggered fire-fighting unmanned aerial vehicle formation sliding mode control method according to claim 3, wherein nodes of a communication topological relation diagram among fire-fighting unmanned aerial vehicles confirmed based on undirected graph theory are bidirectional and communicated, and no self-communication exists, namely a is satisfied ij ＝a ji ，a ii ＝0。
5. The event trigger based fire unmanned aerial vehicle formation sliding mode control method of claim 4, wherein the elements of any row or any column in the weight matrix a are not all zero.
6. The event-triggered fire unmanned aerial vehicle formation sliding mode control method of claim 5, wherein if a ij =1, the desired formation expression for the fire drone is:
P i -P j ＝p ij ,V i -V j ＝0
wherein ,Pi Representing the coordinates of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system; p (P) j Representing the coordinates of the fire-fighting unmanned aerial vehicle j under an inertial coordinate system; v (V) i The speed of the fire-fighting unmanned aerial vehicle i under an inertial coordinate system is represented; v (V) j The speed of the fire-fighting unmanned plane j under an inertial coordinate system is represented; p is p ij Can represent a time-varying function, can also represent a constant vector, and p ij ＝-p ji ；p ij The position vector expected by the fire-fighting unmanned aerial vehicle i and the fire-fighting unmanned aerial vehicle j.
7. The method for controlling a sliding mode of a fire unmanned aerial vehicle formation based on event triggering as claimed in claim 6, wherein in the step S4, the expected gesture Θ is obtained by inverse solution according to the position control input quantity di ＝[φ di ,θ di ,ψ di ] T The expression of (2) is:
wherein ,ψdi Representing the desired gesture Θ di Is set at a desired yaw angle.
8. The method for controlling a sliding mode of a fire unmanned aerial vehicle formation based on event triggering according to claim 7, wherein the step S5 is to solve the attitude error, design an attitude sliding mode dynamic surface by using the attitude error information, and design an attitude control input amount based on the sliding mode dynamic surface comprises the following steps:
the attitude error expression of the ith fire unmanned aerial vehicle is as follows:
wherein ,
representing the attitude error of the ith firefighting unmanned aerial vehicle; theta (theta) di Representing a desired pose; theta (theta) i Representing the attitude angle;
design of attitude sliding mode dynamic surface by utilizing attitude error information
The expression of (2) is:
wherein ,ci,2 Parameters greater than zero required for design;
the expression of the attitude control input quantity based on the sliding mode dynamic surface design is as follows:
wherein ,vi Representing a design attitude control input quantity based on a sliding mode dynamic surface; j (J) i Is an inertial matrix;
for positive parameters of design, +.>
Representing that the acceleration error reaches the sliding mode dynamic surface; if the control is good, the control is->
Set to 0.
9. The method for controlling a sliding mode of a fire unmanned aerial vehicle formation based on event triggering according to claim 8, wherein the event triggering mechanism of the position controller and the gesture controller in step S6 is:
wherein ,
all represent the moment of controller triggering; />
All represent intermediate parameters, +.>
δ i,1 、δ i,2 、∈ i,1 、∈ i,2 All are positive parameters to be designed;
the update criteria of the position controller and/or the gesture controller in step S7 are:
The updated expression of the position controller is:
the updated expression of the gesture controller is:
wherein ,ui 、τ i The inputs of the position controller and the gesture controller are respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011403190.3A CN112527015B (en) | 2020-12-04 | 2020-12-04 | Event triggering-based firefighting unmanned aerial vehicle formation sliding mode control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011403190.3A CN112527015B (en) | 2020-12-04 | 2020-12-04 | Event triggering-based firefighting unmanned aerial vehicle formation sliding mode control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112527015A CN112527015A (en) | 2021-03-19 |
| CN112527015B true CN112527015B (en) | 2023-05-05 |
Family
ID=74998335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011403190.3A Active CN112527015B (en) | 2020-12-04 | 2020-12-04 | Event triggering-based firefighting unmanned aerial vehicle formation sliding mode control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112527015B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102315498B1 (en) * | 2021-05-21 | 2021-10-21 | 세종대학교산학협력단 | Apparatus and method for tracking and controlling formation of multi-agent |
| CN114489142B (en) * | 2022-03-28 | 2022-07-12 | 中山大学 | Unmanned aerial vehicle formation control method based on self-adaptive sliding mode and related device |
| CN115981375B (en) * | 2023-03-17 | 2023-07-28 | 南京信息工程大学 | Design method of multi-unmanned aerial vehicle time-varying formation controller based on event triggering mechanism |
| CN116431005B (en) * | 2023-06-07 | 2023-09-12 | 安徽大学 | Unmanned aerial vehicle control method and system based on improved mobile terminal lip language recognition |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109002058A (en) * | 2018-09-10 | 2018-12-14 | 北京航空航天大学 | Spacecraft formation flying relative position cooperative control method based on event triggering |
| CN109976361A (en) * | 2019-03-14 | 2019-07-05 | 天津大学 | Quadrotor drone attitude control method towards event triggering |
| CN110456816A (en) * | 2019-07-05 | 2019-11-15 | 哈尔滨工程大学 | A kind of quadrotor Trajectory Tracking Control method based on continuous terminal sliding mode |
| CN111273688A (en) * | 2020-02-17 | 2020-06-12 | 南京邮电大学 | Four-rotor unmanned aerial vehicle consistency formation control method based on event triggering |
| CN111813140A (en) * | 2020-07-31 | 2020-10-23 | 中国人民解放军空军工程大学 | High-precision trajectory tracking control method for quad-rotor unmanned aerial vehicle |
-
2020
- 2020-12-04 CN CN202011403190.3A patent/CN112527015B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109002058A (en) * | 2018-09-10 | 2018-12-14 | 北京航空航天大学 | Spacecraft formation flying relative position cooperative control method based on event triggering |
| CN109976361A (en) * | 2019-03-14 | 2019-07-05 | 天津大学 | Quadrotor drone attitude control method towards event triggering |
| CN110456816A (en) * | 2019-07-05 | 2019-11-15 | 哈尔滨工程大学 | A kind of quadrotor Trajectory Tracking Control method based on continuous terminal sliding mode |
| CN111273688A (en) * | 2020-02-17 | 2020-06-12 | 南京邮电大学 | Four-rotor unmanned aerial vehicle consistency formation control method based on event triggering |
| CN111813140A (en) * | 2020-07-31 | 2020-10-23 | 中国人民解放军空军工程大学 | High-precision trajectory tracking control method for quad-rotor unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112527015A (en) | 2021-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112527015B (en) | Event triggering-based firefighting unmanned aerial vehicle formation sliding mode control method | |
| CN109884895B (en) | Unmanned aerial vehicle self-adaptive tracking control algorithm based on saturation limited condition | |
| CN109002058B (en) | Event trigger-based spacecraft formation flight relative position cooperative control method | |
| CN110262557B (en) | Four-rotor formation finite time fault-tolerant control method based on sliding mode control technology | |
| CN111948944B (en) | Four-rotor formation fault-tolerant control method based on adaptive neural network | |
| CN104281053A (en) | Multi-agent cooperative control method for solving communication time lag problem | |
| CN107966907B (en) | Obstacle avoidance solution applied to redundant manipulator | |
| CN112631335B (en) | Event triggering-based multi-quad-rotor unmanned aerial vehicle fixed time formation method | |
| CN111273688B (en) | Four-rotor unmanned aerial vehicle consistency formation control method based on event triggering | |
| CN115639830B (en) | Air-ground intelligent agent cooperative formation control system and formation control method thereof | |
| CN112684705B (en) | Four-rotor aircraft formation tracking control method | |
| CN106708078B (en) | A kind of rapid posture antihunt means under actuator failures suitable for robot for space | |
| CN111198570B (en) | Anti-delay high-precision active disturbance rejection attitude control method based on fixed time differentiator prediction | |
| CN104290925B (en) | A kind of spacecraft angular momentum control method in inertial system | |
| CN110632940B (en) | Active anti-interference time-varying track tracking control method for multiple unmanned aerial vehicles with hybrid quantizers | |
| WO2022247171A1 (en) | Balance control method and apparatus for humanoid robot, and humanoid robot | |
| CN109484676B (en) | Equivalent attitude control processing method for vertical take-off and landing rocket online trajectory planning | |
| CN113110554B (en) | Four-rotor unmanned aerial vehicle composite continuous rapid terminal sliding mode attitude control method | |
| CN112362289B (en) | Aircraft split test method and device, computer equipment and readable storage medium | |
| CN112882484B (en) | Anti-interference fault-tolerant control method for unmanned aerial vehicle | |
| CN110308742A (en) | Multiple no-manned plane time-varying formation control method based on synchronization policy | |
| CN112327932B (en) | Incremental PID control method for fire-fighting unmanned aerial vehicle formation | |
| CN108107726B (en) | Four-rotor aircraft output limited backstepping control method based on symmetric time-varying obstacle Lyapunov function | |
| CN116301009A (en) | Anti-interference safety control method for variable-configuration unmanned aerial vehicle | |
| CN116237938A (en) | Rotor flight mechanical arm coordinated motion planning method based on redundancy degree of freedom utilization |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |