用双四元数实现小型无人机群协同编队飞行控制
Adaptive Multirobot Virtual Structure Control using Dual Quaternions
- 基于双四元数构建虚拟结构，统一控制位置、姿态和形状
- 融合几何自适应策略，实现编队位置与姿态的精确跟踪
- 适用于多无人机系统协同控制，实验验证了鲁棒性
本文提出一种基于双四元数的控制策略，用于小型无人机群的协同编队飞行。通过虚拟结构定义期望编队形态，实现对位置、姿态和形状的统一控制，使底层控制器能高效计算各无人机的控制指令。所提控制器结合位姿控制模块与基于几何的自适应策略，确保任务执行的高精度与鲁棒性。方法在仿真与实验中均得到验证，展现了良好的控制性能。
原文摘要 · Abstract (English)
This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position, orientation, and shape. This abstraction makes formation management easier by allowing a low-level controller to compute individual UAV commands efficiently. The proposed controller integrates a pose control module with a geometry-based adaptive strategy, ensuring precise and robust task execution. The effectiveness of the approach is demonstrated through both simulation and experimental results.
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