Four-rotor formation flying control method based on distributed system structure

• Main Authors: LI RUI, LAI YUNHUI, SHI YINGJING, SONG ZIWEN
• Format: Patent
• Language: Chinese; English
• Published: 26.07.2019
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a four-rotor formation flying control method based on a distributed system structure. According to the four-rotor formation flying control method based on the distributed system structure, a whole four-rotor fleet is decomposed into a plurality of leader-follower two-machine structures, different formation control instructions are issued through a ground station, a distancefeedback control law is utilized to enable each leader-follower two-machine structure to achieve a desired formation, and the formation forming, transformation, maintenance, returning to the field landing and other tasks of the whole fleet are further completed. The whole process has a good formation flying effect, and the distributed type formation further has the characteristics of flexible structure, easy control, no need of occupying too many resources and the like. 本发明公开了一种基于分布式体系结构的四旋翼编队飞行控制方法，将整个四旋翼机群分解为若干个领航者与跟随者双机结构，通过地面站发布不同的编队队形控制指令，利用距离反馈控制律使每个领航者与跟随者双机结构达到期望的队形，进而完成整个机群的编队队形形成、变换、保持以及返场降落等任务，整个过程具有良好的编队飞