研究了多个四旋翼飞行器在主从结构下的分布式同步协调编队控制问题. 基于反步法的设计思想, 文章提出了一种有界的分布式一致性控制算法, 以保证满足输入饱和受限条件. 首先, 对于位置控制子系统, 基于比例微分控制和一致性理论, 设计了一种多个四旋翼飞行器的协调编队控制律, 来使所有的四旋翼飞行器都可以向领导者收敛, 并沿着理想的编队轨迹运动. 针对位置系统设计的分布式一致控制律将为姿态控制子系统的参考姿态输入信息. 其次, 针对基于四元数描述的姿态控制子系统, 设计了一种饱和的全局姿态跟踪控制律, 可以使飞行器跟踪上所期望的姿态. 最后, 通过数值仿真来验证所提方法的有效性.

The distributed synchronization control problem of multiple quadrotor aircraft in the form of leader-follower structure is considered in this paper. Based on the method of backstepping design, a bounded distributed consensus control algorithm is proposed to guarantee that the constraints of input saturation can be satisfied. Firstly, for the position control subsystem, by Proportional-Differential control and the theory of communication topology graph, a consensus control law for multiple quadrotor aircraft is designed such that all the quadrotor aircraft can convergence to a leader and move along the desired trajectory asymptotically. The designed distributed consensus control law for position systems will generate the desired attitude for the attitude control subsystems. Secondly, for the attitude control subsystem described by unit quaternion, by employing switch control, a global attitude tracking control law is designed such that the desired attitude can be tracked. Finally, an example is given to demonstrate the efficiency of proposed method.