Abstract
In order to solve the problems of complex dynamic modeling and parameters identification of quadrotor formation cooperative trajectory tracking control, this paper proposes a data-driven model-free adaptive control method for quadrotor formation based on robust integral of the signum of the error (RISE) and improved sliding mode control (ISMC). The leader-follower strategy is adopted, and the leader realizes trajectory tracking control. A novel asymptotic tracking data-driven controller of quadrotor is used to control the system using the RISE method. It is divided into two parts: The inner loop is for attitude control and the outer loop for position control. Both use the RISE method in the loop to eliminate interference and this method only uses the input and output data of the unmanned aerial vehicle(UAV) system and does not rely on any dynamics and kinematics model of the UAV. The followers realize formation cooperative control, introducing adaptive update law and saturation function to improve sliding mode control (SMC), and it eliminates the general SMC algorithm controller design dependence on the mathematical model of the UAV and has the chattering problem. Then, the stability of the system is proved by the Lyapunov method, and the effectiveness of the algorithm and the feasibility of the scheme are verified by numerical simulation. The experimental results show that the designed data-driven model-free adaptive control method for the quadrotor formation is effective and can effectively realize the coordinated formation trajectory tracking control of the quadrotor. At the same time, the design of the controller does not depend on the UAV kinematics and dynamics model, and it has high control accuracy, stability, and robustness.
Highlights
With the development and progress of artificial intelligence, avionics, inertial navigation system, and control technology, coupled with the characteristics of low cost, flexible operation, high stability, and strong adaptability of the micro rotorcraft
The main contributions are as follows: (1) For the UAV trajectory tracking control, this paper designs the control system structure, adding the inverter and differentiator, using the inner and outer loops to use the RISE algorithm, introducing saturation function tracks the desired trajectory of the quadrotor to achieve trajectory tracking control, which can compensate for external interference and modeling uncertainty; (2) For the coordinated control of the leader and follower formations, leader performs the trajectory tracking control and the followers obtain the desired position according to the information of the leader after trajectory tracking
A model-free adaptive trajectory tracking control method based on the RISE and improved sliding mode control (ISMC) algorithm using quadrotor formation data is adopted
Summary
With the development and progress of artificial intelligence, avionics, inertial navigation system, and control technology, coupled with the characteristics of low cost, flexible operation, high stability, and strong adaptability of the micro rotorcraft. This paper introduces adaptive update law and saturation function to improve SMC, using the leader-follower method to realize formation control. This paper successfully realized the data-driven model-free adaptive trajectory tracking control of the quadrotor formation. The main contributions are as follows: (1) For the UAV trajectory tracking control, this paper designs the control system structure, adding the inverter and differentiator, using the inner and outer loops to use the RISE algorithm, introducing saturation function tracks the desired trajectory of the quadrotor to achieve trajectory tracking control, which can compensate for external interference and modeling uncertainty; (2) For the coordinated control of the leader and follower formations, leader performs the trajectory tracking control and the followers obtain the desired position according to the information of the leader after trajectory tracking. You need to pay attention to the point that this chapter does not need the model information of the UAV when designing the data-driven model-free adaptive trajectory tracking control method of the leader
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