Research on Control Strategy Conversion for Collaborative Formation Flight of Quadrotor Unmanned Aerial Vehicle Cluster
Based on the establishment of a dynamic model and simulation data of quadcopter unmanned aerial vehicles,the transformation of collaborative formation flight strategy for quadcopter unmanned aerial vehicles was studied.Firstly,the model of group collaborative formation flight using the pilot-following structure method for quadcopter unmanned aerial vehicles was studied and relevant simulations were conducted.Due to the shortcomings of poor robustness and reliance on signal stability in this structure method,the conversion of collaborative formation flight strategy for quadcopter unmanned aerial vehicles was studied.Therefore,a model of quadcopter unmanned aerial vehicles using cross coupling structure method for cluster collaborative formation flight was studied,and relevant simulations were conducted to verify its feasibility.Finally,in order to enhance the stability of collaborative formation of quadcopter unmanned aerial vehicles,a collaborative controller that converts two different flight strategies during flight was studied and its feasibility was verified through simulation.