Aiming at the problems of actuator saturation, trajectory tracking, formation and obstacle avoidance planning in multi-UAVs formation obstacle avoidance control, an anti-saturation UAV formation obstacle avoidance control strategy is proposed. First, for the trajectory tracking problem of a single UAV, a backstepping control strategy is used to reduce the second-order nonlinear system to two first-order subsystems to reduce the system complexity. At the same time, a saturation function is designed to eliminate the impact of actuator saturation on the system; On this basis, the formation consistency protocol is designed to ensure the effectiveness of formation control and the corresponding obstacle avoidance function is designed to enable UAV formation to effectively avoid obstacles and ensure flight safety; Finally, the feasibility of the control strategy is verified in the Simulink simulation environment.
Obstacle Avoidance Algorithm for Quadrotor UAV Formation with Input Constraints
19.05.2023
2356665 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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