设计了一种基于高阶一致性理论的四旋翼无人机编队飞行控制方法。首先,利用反馈线性化将四旋翼无人机非线性数学模型简化为两个四阶线性子系统和两个二阶线性子系统; 然后,利用代数图论和矩阵分析, 采用位置偏差矩阵描述编队队形, 设计了一种固定拓扑结构下的高阶一致性编队控制算法, 并给出其渐近一致的充分条件;最后,通过Matlab仿真实验证明, 在该算法下四旋翼无人机可以完成编队集结和编队队形变化等行为。

A formation control method of quadrotor UAVs based on high-order consensus is designed.Firstly, by using feedback linearization,the nonlinear mathematical model of quadrotor UAVs is simplified into two four-order linear subsystems and two two-order linear subsystems.Then,the fundamental knowledge of algebraic graph theory and matrix analysis are introduced and the position deviation matrix is used to describe the UAV formation shape.Under the above conditions,a high-order consensus formation control algorithm under fixed topology is designed,and the sufficient conditions for its gradual consistency are given.Finally,the Matlab simulation experiment shows that the quadrotor UAVs can complete the behavior of formation gathering and formation shape changes.