基于小型多旋翼飞行器的网络化多无人机编队飞行控制方法研究

There is a rapid development on small-scale multi-rotor UAVs recently in civilian applications, which follows the stronger demand for better system reliability, safety, and techniques that could improve flight control performance and develop potential applications by flying multiple UAVs cooperatively. Small-scale UAV is a class of nonlinear, strong coupling, 6 Degree-of-Freedom control object, and is greatly influenced by turbulence and other disturbances during flight. The flight control problem of such systems is of important significance both in theoretical and practical, and is also very challenging. As the result of large decrease in the cost of small civilian UAV, and the mature of flight controller development kit, it becomes very meaningful to research on innovatively apply the advanced control methods for highly abstracted objects to practical UAVs and further get experimental validation. The project focuses on the sharp contradiction between the lack of practical validation results in current theoretical research on networked control systems, and the very low level control techniques currently used by civilian UAV industry. By develop the small-scale quadrotor UAV verification platform, the project studies high performance attitude control methods for single UAV, networked formation flight control methods for multiple UAVs, and the fault-tolerant control methods. The project is aiming to get practical high performance control method that is experimentally verified, and thus to improve the state of art for the civilian UAV industry of our country.

随着近年来小型民用多旋翼无人机的迅猛发展，各方对提高飞行控制性能、挖掘多机协同飞行潜在应用以及改善系统可靠性、安全性方面的需求愈加强烈。小型无人机作为一种非线性强耦合的六自由度控制对象，且飞行环境易受气流等各种扰动的影响，其飞行控制问题具有重要的研究价值和现实意义，也有着巨大的挑战性。小型民用无人机成本的大幅下降和飞行控制器软硬件开发环境的成熟，使得将控制理论研究中针对高度抽象被控对象的先进控制方法创新性的应用到无人机上、并进行实验验证成为具有重大意义的研究方向。本项目针对现有网络化控制系统理论研究实验验证结果较为欠缺以及民用无人机行业控制方法非常落后之间的尖锐矛盾，通过开发小型四旋翼无人机验证平台，开展单机高性能姿态控制方法、多机网络化编队飞行控制方法及其容错控制方法的研究，从而得到经飞行实验验证的实用高性能控制方法，提高我国民用无人机行业的技术水平。

近年来各类型小型低成本无人机取得了极大的发展，行业应用范围不断拓展，新的应用场景层出不穷，无人机用户对提高飞行控制性能、挖掘多机协同飞行潜在应用以及改善系统可靠性、安全性方面的需求也愈加强烈。小型无人机作为一种非线性强耦合的六自由度控制对象，且飞行环境易受气流等各种扰动的影响，其飞行控制问题具有重要的研究价值和现实意义，也有着巨大的挑战性。..在三年的研究工作中，本项目针对现有网络化控制系统理论研究实验验证结果较为欠缺以及民用无人机行业控制方法非常落后之间的尖锐矛盾，开发完成了一套具有灵活性、通用型的小型四旋翼无人机系统开发与验证平台，在其基础上相继取得了单机高性能姿态控制、多机网络化编队飞行控制等方面的理论创新成果，得到了经飞行实验验证的实用高性能控制方法。并开展了基于机器学习方法的飞行器智能控制器研究，取得了代表性的创新成果，为开展进一步的深入研究奠定了基础。