School of Electronic Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan, China.
ISA Trans. 2018 Mar;74:185-193. doi: 10.1016/j.isatra.2018.01.024. Epub 2018 Feb 15.
This paper investigates the flocking problem of quad-rotor UAVs. Considering the actual situations, we derived a new simplified quad-rotor UAV model which is more reasonable. Based on the model, the T-S fuzzy model of attitude dynamic equation and the corresponding T-S fuzzy feedback controller are discussed. By introducing a double-loop control construction, we adjust its attitude to realize the position control. Then a flocking algorithm is proposed to achieve the flocking of the quad-rotor UAVs. Compared with the flocking algorithm of the mass point model, we dealt with the collision problem of the quad-rotor UAVs. In order to improve the airspace utilization, a more compact configuration called quasi e-lattice is constructed to guarantee the compact flight of the quad-rotor UAVs. Finally, numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.
本文研究了四旋翼无人机的群体问题。考虑到实际情况，我们推导出了一个新的简化四旋翼无人机模型，该模型更加合理。基于该模型，讨论了姿态动力学方程的 T-S 模糊模型及其相应的 T-S 模糊反馈控制器。通过引入双环控制结构，我们调整其姿态以实现位置控制。然后提出了一种群体算法来实现四旋翼无人机的群体。与质量点模型的群体算法相比，我们处理了四旋翼无人机的碰撞问题。为了提高空域利用率，构建了一种称为拟 e 晶格的更紧凑配置，以保证四旋翼无人机的紧凑飞行。最后，提供了数值模拟以说明所得到的理论结果的有效性。
