CN112947560A - Sliding mode tracking control method and system for multiple high-rise fire-fighting unmanned aerial vehicles under unknown disturbance - Google Patents
Sliding mode tracking control method and system for multiple high-rise fire-fighting unmanned aerial vehicles under unknown disturbance Download PDFInfo
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Abstract
The invention discloses a sliding mode tracking control method and a sliding mode tracking control system for a high-rise fire-fighting multi-unmanned aerial vehicle under unknown disturbance, which comprise the following steps: establishing a mathematical model of a nominal system of the unmanned aerial vehicle under the condition of disturbance; determining a network communication topological structure among all unmanned aerial vehicles in the unmanned aerial vehicle cluster tracking control process; determining a cooperative consistency position tracking error and a cooperative consistency speed tracking error according to a network communication topological structure aiming at an ith following unmanned aerial vehicle nominal system; and determining a distributed integral sliding mode surface, and constructing a self-adaptive sliding mode tracking control law of the single unmanned aerial vehicle under unknown disturbance, so as to control the position and speed of the following unmanned aerial vehicle tracking piloting unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle tracking control, and particularly relates to a sliding mode tracking control method and system for a high-rise fire-fighting multi-unmanned aerial vehicle under unknown disturbance.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
At present, the urbanization process is faster and faster, the record of the congestion degree, the scale and the height of the building group of the city is continuously refreshed, and high-rise buildings over one hundred meters are gradually increased. However, if fire fighting problems such as fire catching occur, the traditional fire fighting truck faces the difficult problems of 'being unable to reach, unable to enter, unable to unfold and inaccurate' such as limited spacial fire fighting gun spraying height, limited time of arrival of the fire fighting truck, difficult high-altitude operation of firemen in operation, unstable top end of the arm frame of the fire fighting truck and the like. Particularly, aiming at high-rise building fire, the fire fighting truck is basically in a traditional aerial ladder fire truck mode, the rescue time is urgent, the fire extinguishing effect is poor, the fire condition is difficult to control, and great harm is brought to lives and properties of people. Therefore, the fire scene investigation and the personnel escape guidance of the fire-fighting unmanned aerial vehicle at the high-rise site become an effective means for high-rise fire-fighting rescue, the unmanned aerial vehicle cluster has the characteristics of cooperative control, capability complementation and the like, and the execution efficiency of rescue tasks is greatly improved. Therefore, the anti-interference tracking control of the fire-fighting multiple unmanned aerial vehicles is a research hotspot in the field of high-rise fire-fighting rescue, and has great significance for guaranteeing the life and property safety of people and long-term security of China.
In the high-rise fire-fighting rescue work, firstly, the stability of the fire-fighting unmanned aerial vehicle must be ensured, and the mechanical equipment is prevented from being influenced by factors such as high heat or strong wind. Therefore, the sliding mode control is an extremely effective robust control method, and has strong adaptability and robustness to complex external environments such as smoke dust, strong convection, high temperature and the like existing in the high-rise indoor flight process of the unmanned aerial vehicle. In addition, smoke and dust, strong convection current and the high temperature that exist among the many unmanned aerial vehicle of fire control collaborative flight process cause the communication discontinuous problem between the unmanned aerial vehicle easily.
In a complex fire scene environment, external disturbance encountered in the cooperative flight process of multiple fire-fighting unmanned aerial vehicles is more severe than that in a normal environment, so that the stability of the whole unmanned aerial vehicle cluster is reduced, and even the stability of the whole unmanned aerial vehicle cluster system is affected, thereby causing unpredictable hidden dangers to the safety of high-rise fire rescue. Therefore, it becomes very important to improve the disturbance rejection control capability of the fire-fighting multi-drone cluster.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a sliding mode tracking control method and a sliding mode tracking control system for a high-rise fire-fighting multi-unmanned aerial vehicle under unknown disturbance, and the method can enable a fire-fighting multi-unmanned aerial vehicle cluster to overcome the influences of unknown external disturbance and limited network communication, so that the coordinated stable flight of the whole fire-fighting multi-unmanned aerial vehicle cluster is realized, the position and the speed of a piloting unmanned aerial vehicle can be ensured to be finally tracked according to the position and the speed of the following unmanned aerial vehicle, and the energy loss of the fire-fighting multi-unmanned aerial vehicle cluster can be effectively reduced.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, an embodiment of the present invention provides a sliding mode tracking control method for a high-rise fire-fighting multi-unmanned aerial vehicle under unknown disturbance, including the following steps:
establishing a mathematical model of a nominal system of the unmanned aerial vehicle under the condition of disturbance;
determining a network communication topological structure among all unmanned aerial vehicles in the unmanned aerial vehicle cluster tracking control process;
determining a cooperative consistency position tracking error and a cooperative consistency speed tracking error according to a network communication topological structure aiming at an ith following unmanned aerial vehicle nominal system;
and determining a distributed integral sliding mode surface, and constructing a self-adaptive sliding mode tracking control law of the single unmanned aerial vehicle under unknown disturbance, so as to control the position and speed of the following unmanned aerial vehicle tracking piloting unmanned aerial vehicle.
As a further technical solution, the mathematical model of the nominal system of the unmanned aerial vehicle under the disturbance condition is as follows:
wherein the unknown external disturbance satisfies
Xi＝[xi,yi,θi,ωi]T,f(Xi)＝[vicosθi,visinθi,ωi,0]T,g(Xi)＝[0,0；0,0；0,0；0,1],ui＝[0,ui,2]T,di＝[0,di,2]T；
xi、yiRespectively representing the coordinates in the east and north directions of the coordinate system; v. ofi、θi、ωiRespectively representing speed, course angle and yaw rate; u. ofi,2Representing a drone control input signal; di,2Representing the unknown external disturbances to which the drone is subjected.
As a further technical scheme, determining a communication connection relation between unmanned aerial vehicles in the cluster tracking control process of the unmanned aerial vehicles by using an undirected graph G ═ O, pi, A };
where o ═ 1,. and N denotes a set of nodes in the undirected graph G,
representing a set of undirected edges, A ═ aij]∈Rn×nA adjacency matrix representing an undirected graph G;
if the unmanned aerial vehicle i can receive the communication information of the unmanned aerial vehicle j, then aij1(i ≠ j); otherwise, aij＝0。
As a further technical solution, a diagonal matrix B ═ diag { B ] is used1,...,bNThe connection relation between the following unmanned aerial vehicle i and the piloting unmanned aerial vehicle is represented, and if the unmanned aerial vehicle i can receive the communication information of the piloting unmanned aerial vehicle, b isi1 is ═ 1; otherwise, bi＝0。
As a further technical solution, the cooperative consistency position tracking error following the unmanned aerial vehicle i is:
as a further technical solution, the cooperative consistency speed tracking error following the unmanned aerial vehicle i is:
as a further technical solution, the distributed integral sliding mode surface function is:
wherein,
α1＞1，
as a further technical scheme, according to a distributed integral sliding mode surface function, the self-adaptive sliding mode tracking control law of the single unmanned aerial vehicle is as follows:
wherein,
and
respectively represents the information transmission time of the fire-fighting unmanned aerial vehicle i and the information transmission time of the fire-fighting unmanned aerial vehicle j, gamma1i> 0 and gamma2i> 0 is a scalar of the design,
is that the fire-fighting unmanned plane i is at the moment
The external disturbance estimate of (1).
As a further technical solution, the measurement error is:
the self-adaptation law of the unknown external disturbance is as follows:
c is a positive scalar of the design.
In a second aspect, an embodiment of the present invention further provides a sliding mode tracking control system for a high-rise fire-fighting multi-unmanned aerial vehicle under unknown disturbance, including:
the system comprises a first module, a second module and a third module, wherein the first module is used for establishing a mathematical model of a nominal system of the unmanned aerial vehicle under the condition of disturbance;
the second module is used for determining a network communication topological structure among all unmanned aerial vehicles in the unmanned aerial vehicle cluster tracking control process;
the third module is used for determining a cooperative consistency position tracking error and a cooperative consistency speed tracking error according to a network communication topological structure aiming at the ith following unmanned aerial vehicle nominal system;
and the fourth module is used for determining a distributed integral sliding mode surface and constructing a self-adaptive sliding mode tracking control law of the single unmanned aerial vehicle under unknown disturbance, so that the position and the speed of the unmanned aerial vehicle tracking piloting along with the unmanned aerial vehicle are controlled.
The beneficial effects of the above-mentioned embodiment of the present invention are as follows:
the method of the invention also considers the communication problem among the unmanned aerial vehicles on the basis of ensuring the cooperative and stable flight of the fire-fighting multi-unmanned aerial vehicle cluster, can reduce the energy consumption of the fire-fighting multi-unmanned aerial vehicle cluster, and has very practical value. The invention introduces an event trigger control scheme to solve the problem of limited communication between unmanned aerial vehicles, comprehensively considers an event trigger mechanism, self-adaptive control and a sliding mode control method, combines the unmanned aerial vehicles and other communication equipment together, realizes information fusion of the unmanned aerial vehicles and a command control platform system, and provides a very effective control strategy for the fire fighting unmanned aerial vehicles to carry out fire suppression in a high-rise fire scene in time.
According to the method, the self-adaptive sliding mode controller is adopted, the problem that the unmanned aerial vehicle is subjected to unknown external disturbance is solved, the effective compensation of the external disturbance of the unmanned aerial vehicle is realized, the influence of the unknown disturbance on the fire-fighting multi-unmanned aerial vehicle cluster system is eliminated, and the cooperative stable flight of the multi-unmanned aerial vehicle can be effectively realized.
According to the method, the problem that tracking error of the fire-fighting unmanned aerial vehicle caused by external disturbance is large can be effectively solved by designing the integral sliding mode surface, so that the method is more easily applied to engineering practice.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic flow diagram of an adaptive sliding mode tracking control method according to one or more embodiments of the invention;
FIG. 2 is a horizontal block diagram of pilot-follower tracking;
fig. 3 is a communication topology diagram of a cluster of drones;
FIG. 4 is a position trajectory diagram of a cluster of drones;
FIG. 5 is a velocity trajectory diagram of a cluster of drones;
FIG. 6 is a sliding mode surface trajectory diagram of an unmanned aerial vehicle cluster;
FIG. 7 is a graph of an estimate of an unknown external disturbance;
fig. 8 is a graph of transmission time of cluster information of the unmanned aerial vehicle;
in the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the illustration is for illustrative purposes only.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
The terms "mounted", "connected", "fixed", and the like in the present invention should be understood broadly, and for example, the terms "mounted", "connected", "fixed", and the like may be fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As introduced by the background art, the prior art has defects, and in order to solve the technical problems, the invention provides a sliding mode tracking control method and a sliding mode tracking control system for a high-rise fire-fighting multi-unmanned aerial vehicle under unknown disturbance. Secondly, in order to weaken the influence of unknown disturbance on the stable flight of the non-linear fire-fighting multi-unmanned aerial vehicle cluster of a pilot-follower, a distributed self-adaptive sliding mode tracking control law is designed based on a self-adaptive sliding mode control theory. Then, based on an event trigger control strategy and an adaptive sliding mode tracking control law, the fire-fighting multi-unmanned aerial vehicle cluster can overcome the influences of unknown external disturbance and limited network communication, and accordingly coordinated stable flight of the whole fire-fighting multi-unmanned aerial vehicle cluster is achieved. Finally, the self-adaptive sliding mode controller based on the event trigger mechanism can ensure that the position and the speed of the piloting unmanned aerial vehicle can be finally tracked according to the position and the speed of the following unmanned aerial vehicle, and can reduce the energy consumption of a fire-fighting multi-unmanned aerial vehicle cluster.
Example 1:
in a typical embodiment of the present invention, as shown in fig. 1, a method for adaptive sliding mode tracking control of a high-rise fire-fighting multi-unmanned aerial vehicle under unknown disturbance is provided, which includes the following steps:
s1: establishing a mathematical model of a nominal system of the high-rise fire-fighting unmanned aerial vehicle under a disturbance condition;
s2: determining a network communication topological structure among all unmanned aerial vehicles in the unmanned aerial vehicle cluster tracking control process;
s3: defining a proper consistent position tracking error and a consistent speed tracking error aiming at the ith following unmanned aerial vehicle nominal system;
s4: based on an event trigger function and a self-adaptive sliding mode control theory, a novel sliding mode surface is designed, and based on the novel sliding mode surface, a self-adaptive sliding mode tracking control law of the single fire-fighting unmanned aerial vehicle under unknown disturbance is constructed, so that the influence of external disturbance on the stable flight of the unmanned aerial vehicle is eliminated;
s5: aiming at the ith following unmanned aerial vehicle nominal system, a distributed event trigger mechanism is designed, and the actuator abrasion of the unmanned aerial vehicle and the energy consumption of the unmanned aerial vehicle are reduced.
In this embodiment, adopt four rotor unmanned aerial vehicle, the following combines four rotor unmanned aerial vehicle to explain.
In step S1, the specific process of establishing the mathematical model of the nominal system of the high-rise fire-fighting quad-rotor unmanned aerial vehicle under the unknown disturbance condition is as follows:
first, to simplify the presentation of the problem, attention is given only to the formation/tracking behavior of quad-rotor drones, assuming that each drone is equipped with a throttle, a rudder and an altitude autopilot. Therefore, the complex aerodynamic characteristics of the unmanned aerial vehicle can be ignored, and the unmanned aerial vehicle model is simplified. Suppose that each unmanned aerial vehicle is on the same horizontal plane to obtain the simplified mathematical model of a single unmanned aerial vehicle to be:
the coordinate system in the scheme of the application adopts a coordinate system of northeast, xi、yiRespectively representing the coordinates of east and north directions on the established coordinate system,
respectively represent xi、yiA derivative of (a); v. ofi、θi、ωiRespectively representing speed, course angle and yaw rate; u. ofi,1、ui,2Respectively representing unmanned aerial vehicle control input signals; di,1、di,2Are representative of the unknown external disturbances experienced by the drone.
Respectively represent thetaiDerivative of viDerivative of and ωiThe derivative of (c).
Let Xi＝[xi,yi,θi,ωi]T,f(Xi)＝[vi cos θi,vi sin θi,ωi,0]T,g(Xi)＝[0,0；0,0；0,0；0,1],ui＝[0,ui,2]T,di＝[0,di,2]TThen, the mathematical model of the high-rise fire-fighting quad-rotor unmanned aerial vehicle can be further simplified as follows:
wherein the unknown external disturbance satisfies
In step S2, in the unmanned aerial vehicle cluster tracking control process, the network communication topology between the fire-fighting unmanned aerial vehicles specifically includes the following steps:
describing the communication connection relation among all unmanned aerial vehicles in the unmanned aerial vehicle cluster tracking control process by using an undirected graph G (O, n, A);
where o ═ 1,. and N denotes a set of nodes in the undirected graph G,
representing a set of undirected edges, A ═ aij]∈Rn×nA adjacency matrix representing an undirected graph G; laplace matrix L ═ Lij]N×NWherein
If the fire-fighting unmanned aerial vehicle i can receive the communication information of the fire-fighting unmanned aerial vehicle j, aij1(i ≠ j); otherwise, aij＝0。
In addition, defining the neighbor node of the fire-fighting unmanned aerial vehicle i as Ni＝{j∈Ο|(i,j)∈Π,i≠j}。
Using diagonal matrix B ═ diag { B }1,...,bNDenotes the connection relationship of the following unmanned aerial vehicle i and the piloting unmanned aerial vehicle (i ═ 0), if the fire-fighting unmanned aerial vehicle i can receiveCommunication information to piloted drone, then b i1 is ═ 1; otherwise, bi＝0。
In step S3, for the ith fire-fighting unmanned aerial vehicle nominal system, the specific process of defining the cooperative consistency position tracking error and the consistency speed tracking error is as follows:
respectively defining the cooperative consistency position tracking error and the cooperative consistency speed tracking error of the fire-fighting unmanned aerial vehicle i as follows:
in step S4, the form of the distributed integral sliding mode surface is derived as follows:
designing an integral sliding mode surface function as follows:
wherein,
wherein alpha is1＞1，
The compact form of the slip form face can then be written as
Thus, when the position and speed of the fire-fighting drone reach the sliding form in a limited time, one can obtain:
according to the designed integral sliding mode surface, a distributed self-adaptive sliding mode tracking control law based on event triggering is designed as follows:
further can be simplified into:
wherein,
and
respectively represents the information transmission time of the fire-fighting unmanned aerial vehicle i and the information transmission time of the fire-fighting unmanned aerial vehicle j, gamma1i> 0 and gamma2i> 0 is a scalar of the design,
is that the fire-fighting unmanned plane i is at the moment
The external disturbance estimate of (1).
The self-adaptive sliding mode tracking control law based on event triggering is constructed, and motors on the fire-fighting unmanned aerial vehicles are dynamically controlled, so that all following unmanned aerial vehicles not only can effectively track the piloter unmanned aerial vehicle, but also can effectively save the battery energy consumption of the unmanned aerial vehicle.
In step S5, an event trigger mechanism is used to reduce unnecessary energy consumption of the drone, and the event trigger conditions and the adaptive laws under the unknown disturbance condition are obtained as follows:
because fire control unmanned aerial vehicle enters into high-rise building when, complex environments such as indoor smoke and dust, high temperature and strong air current cause the limited problem of network communication, based on fire control unmanned aerial vehicle's control signal, define measuring error as follows:
the self-adaptive law of unknown external disturbance is designed as follows:
According to the measurement error and the adaptive law, the adaptive sliding mode control law based on the event trigger mechanism is designed, so that all following unmanned aerial vehicles can track the unmanned aerial vehicle of the upper pilot and save the battery energy consumption of the unmanned aerial vehicle.
To verify the validity of the scheme of the present invention, a simulation experiment is performed below.
In the simulation experiment, the control target is to design a distributed self-adaptive sliding mode tracking control law based on an event trigger mechanism, so that the speed and the position of the following unmanned aerial vehicle can track the speed and the position of the piloting unmanned aerial vehicle. The pilot control inputs used in this example are:
wherein the time constant τv＝3，τω＝2，vcom12m/s and
the initial value of the system state is selected as
External disturbance d1＝[0.1sin(t)；0.1sin(t)]，d2＝[0.1sin(2t)；0.1sin(2t)]，d3＝[0.1sin(3t)；0.1sin(3t)]，d4＝[0.1sin(4t)；0.1sin(4t)]. Some controller parameters of the fire-fighting unmanned aerial vehicle i are respectively selected as alpha1＝3，α2＝1.5，γ11＝γ12＝3.0，γ13＝γ14＝3.2，γ21＝γ22＝γ23＝γ24＝0.1，ε11＝ε12＝0.2，ε13＝ε14＝0.3，c＝1.8。
And (3) arrival result analysis:
selecting Lyapunov functions
Wherein
Representing the unknown disturbance estimation error, H ═ L + B, which can be derived
Selecting a proper parameter chi according to the Lyapunov stability theoremiThe state signal of the fire-fighting unmanned aerial vehicle i can reach the pre-designed integral sliding mode surface within a limited time.
And (3) analyzing a stability result:
selecting a Lyapunov function V (t) V1(t)+V2(t)+V3(t)，
Wherein,
according to the Lyapunov stability theorem, the position and speed information of the upper pilot fire-fighting unmanned aerial vehicle can be proved to be finally tracked by the position and speed signals of the following fire-fighting unmanned aerial vehicle.
As can be seen from fig. 4 and 5, the following fire-fighting unmanned aerial vehicle can track the trajectory of the upper piloting fire-fighting unmanned aerial vehicle well under the condition of suffering from unknown external disturbance, and can keep a certain distance from the piloting fire-fighting unmanned aerial vehicle. As can be seen from fig. 6, the designed integral sliding mode surface enables the fire-fighting unmanned aerial vehicle cluster to finally realize coordinated and stable flight. Fig. 7 enables an efficient estimation of the unknown external disturbance. When communication of multiple unmanned aerial vehicles for fire fighting is limited, the detector is triggered by the design event, so that the system can transmit data as required, as shown in fig. 8.
The self-adaptive sliding mode tracking control method based on the event trigger mechanism solves the anti-interference tracking control of the high-rise fire-fighting multi-unmanned aerial vehicle under the undirected network communication topology, and simultaneously considers the problems of high temperature, smoke dust, strong convection and other complex external unknown disturbances. Based on a pilot-follower cooperative tracking control mode, a network communication topological structure and position and speed information of the fire-fighting unmanned aerial vehicles, a dynamic equation of position tracking errors and consistent speed tracking errors of cooperative consistency of the fire-fighting unmanned aerial vehicles is established. And a proper distributed event trigger function is designed, so that the fire-fighting unmanned aerial vehicle anti-interference tracking control scheme not only can obtain good control precision, but also can reduce unnecessary energy consumption of the system. Based on the self-adaptive sliding mode control theory and a pre-designed integral sliding mode surface function with good quality, a novel event-triggered self-adaptive sliding mode tracking control law is designed, so that the interference of unknown external disturbance on the coordinated stable flight of the fire-fighting multi-unmanned aerial vehicle cluster is effectively solved. Based on distributed event trigger detector, a control scheme for transmitting data of unmanned aerial vehicle on demand is provided, the problem that information transmission of fire-fighting unmanned aerial vehicle is blocked under the condition of limited network communication is effectively solved, and energy loss of fire-fighting multi-unmanned aerial vehicle cluster is reduced. And finally, the collaborative design method of the distributed adaptive sliding mode tracking control and distributed event trigger control scheme is applied to the anti-interference tracking control of the high-rise fire-fighting multi-unmanned aerial vehicle, and the effectiveness of the control algorithm is verified.
Example 2:
this embodiment provides a many unmanned aerial vehicle self-adaptation sliding mode tracking control system under unknown disturbance, includes:
the system comprises a first module, a second module and a third module, wherein the first module is used for establishing a mathematical model of a nominal system of the unmanned aerial vehicle under the condition of disturbance;
the second module is used for determining a network communication topological structure among all unmanned aerial vehicles in the unmanned aerial vehicle cluster tracking control process;
the third module is used for determining a cooperative consistency position tracking error and a cooperative consistency speed tracking error according to a network communication topological structure aiming at the ith following unmanned aerial vehicle nominal system;
and the fourth module is used for determining a distributed integral sliding mode surface and constructing a self-adaptive sliding mode tracking control law of the single unmanned aerial vehicle under unknown disturbance, so that the position and the speed of the unmanned aerial vehicle tracking piloting along with the unmanned aerial vehicle are controlled.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A sliding mode tracking control method for multiple high-rise fire-fighting unmanned aerial vehicles under unknown disturbance is characterized by comprising the following steps:
establishing a mathematical model of a nominal system of the unmanned aerial vehicle under the condition of disturbance;
determining a network communication topological structure among all unmanned aerial vehicles in the unmanned aerial vehicle cluster tracking control process;
determining a cooperative consistency position tracking error and a cooperative consistency speed tracking error according to a network communication topological structure aiming at an ith following unmanned aerial vehicle nominal system;
and determining a distributed integral sliding mode surface, and constructing a self-adaptive sliding mode tracking control law of the single unmanned aerial vehicle under unknown disturbance, so as to control the position and speed of the following unmanned aerial vehicle tracking piloting unmanned aerial vehicle.
2. The sliding mode tracking control method for the multiple unmanned aerial vehicles according to claim 1, wherein under the disturbance condition, the mathematical model of the nominal system of the unmanned aerial vehicle is as follows:
wherein, Xi＝[xi,yi,θi,ωi]T,f(Xi)＝[vicosθi,visinθi,ωi,0]T,
g(Xi)＝[0,0；0,0；0,0；0,1],ui＝[0,ui,2]T,di＝[0,di,2]T(ii) a Unknown external disturbance satisfaction
xi、yiRespectively representing the coordinates in the east and north directions of the coordinate system; v. ofi、θi、ωiRespectively representing speed, course angle and yaw rate; u. ofi,2Representing a drone control input signal; di,2Representing the unknown external disturbances to which the drone is subjected.
3. The sliding mode tracking control method for the multiple unmanned aerial vehicles according to claim 1, wherein a communication connection relationship between the unmanned aerial vehicles in the cluster tracking control process of the unmanned aerial vehicles is determined by using an undirected graph G ═ O, pi, A };
where o ═ 1,. and N denotes a set of nodes in the undirected graph G,
representing a set of undirected edges, A ═ aij]∈Rn×nA adjacency matrix representing an undirected graph G;
if drone i can receive the communication from drone j,then aij1(i ≠ j); otherwise, aij＝0。
4. The multi-unmanned aerial vehicle sliding mode tracking control method of claim 3, wherein a diagonal matrix B ═ diag { B ] is used1,...,bNThe connection relation between the following unmanned aerial vehicle i and the piloting unmanned aerial vehicle is represented, and if the unmanned aerial vehicle i can receive the communication information of the piloting unmanned aerial vehicle, b isi1 is ═ 1; otherwise, bi＝0。
5. The multi-unmanned aerial vehicle sliding mode tracking control method according to claim 4, wherein the cooperative consistency position tracking error of the following unmanned aerial vehicle i is as follows:
6. the multi-unmanned aerial vehicle sliding mode tracking control method according to claim 4, wherein the cooperative consistency speed tracking error of the following unmanned aerial vehicle i is as follows:
7. the multi-unmanned aerial vehicle sliding mode tracking control method according to claim 4, wherein a distributed integral sliding mode surface function is as follows:
wherein,
α1＞1，
8. the sliding mode tracking control method of the multiple unmanned aerial vehicles according to claim 7, characterized in that according to the distributed integral sliding mode surface function, the self-adaptive sliding mode tracking control law of the single unmanned aerial vehicle is as follows:
wherein,
and
respectively represents the information transmission time of the fire-fighting unmanned aerial vehicle i and the information transmission time of the fire-fighting unmanned aerial vehicle j, gamma1i> 0 and gamma2i> 0 is a scalar of the design,
is that the fire-fighting unmanned plane i is at the moment
The external disturbance estimate of (1).
9. The sliding mode tracking control method for multiple unmanned aerial vehicles according to claim 7, wherein the measurement error is as follows:
the self-adaptation law of the unknown external disturbance is as follows:
c is a positive scalar of the design.
10. The utility model provides a many unmanned aerial vehicle sliding mode tracking control system of high-rise fire control under unknown disturbance, characterized by includes:
the system comprises a first module, a second module and a third module, wherein the first module is used for establishing a mathematical model of a nominal system of the unmanned aerial vehicle under the condition of disturbance;
the second module is used for determining a network communication topological structure among all unmanned aerial vehicles in the unmanned aerial vehicle cluster tracking control process;
the third module is used for determining a cooperative consistency position tracking error and a cooperative consistency speed tracking error according to a network communication topological structure aiming at the ith following unmanned aerial vehicle nominal system;
and the fourth module is used for determining a distributed integral sliding mode surface and constructing a self-adaptive sliding mode tracking control law of the single unmanned aerial vehicle under unknown disturbance, so that the position and the speed of the unmanned aerial vehicle tracking piloting along with the unmanned aerial vehicle are controlled.
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