基于SO(3)的多四旋翼无人机编队协同控制

This paper is concerned with the formation control for multiple quadrotors, and a coordinated control strategy on SO(3) is proposed. Based on the descriptions of flight formation and communication topology, the control model of multiple quadrotors system on SO(3) is first presented. Because of the difference from the conventional model described by pitch/yaw/roll angles, this paper further studies the structure of relative error between quadrotors to formulate the thrust and attitude controllers on SO(3). The thrust controller is designed to coordinate position and velocity, and it is also employed to construct the coordinated attitude commands in the form of rotation matrix. Then, the SO(3) attitude controller is designed for command tracking, and the stability of the closed-loop system is analyzed by Lyapunov theory. It is proved that by applying the proposed control strategy, the multiple quadrotors could achieve the desired formation with stable attitude consensus. Simulation results show the effectiveness of our method.