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Multirotor aircraft formation flight control with collision avoidance capability

机译：具有防撞能力的多旋翼飞机编队飞行控制

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摘要

An analytical and experimental framework addressing formation control of multirotor aircraft with collision avoidance capability is developed and presented. The proposed strategy applies to a formation of cooperating vehicles under the assumption of a broadcast transmission of position data. Starting from the point-mass dynamic model of the single aircraft in the formation, a set of constraints on the vehicles position is introduced and a nonlinear controller based on potential field method is proposed to simultaneously perform trajectory tracking, formation geometry keeping, and collision avoidance. Stability of the closed-loop control system is then proven by means of the Lyapunov method. Results of both numerical simulations and an experimental validation are provided in order to assess the proposed approach in the presence of external disturbances and unmodeled dynamics. (C) 2018 Elsevier Masson SAS. All rights reserved.
机译：建立并提出了一种解决多旋翼飞机编队控制问题的分析和实验框架。所提议的策略适用于在位置数据的广播传输的假设下合作车辆的组建。从编队中单架飞机的点质量动力学模型出发，引入了对车辆位置的一组约束条件，并提出了一种基于势场方法的非线性控制器，以同时执行轨迹跟踪，编队几何保持和避撞。然后通过Lyapunov方法证明了闭环控制系统的稳定性。提供了数值模拟和实验验证的结果，以便在存在外部干扰和未建模动力学的情况下评估所提出的方法。 （C）2018 Elsevier Masson SAS。版权所有。

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