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无人机编队控制模型

本仓库包含了基于环形拓扑的无人机编队控制算法实现，分为2D平面编队和3D空间编队两种模式。

我还有其他编队相关代码仓库，欢迎查看：

• Flocking-Formation-Control：群体/编队协同控制的实现与实验
• Formation_Control_quadrangular：四边形编队控制实现

项目结构

本项目包含原始版本和更新版本的编队控制算法实现：

• 原始版本：ring_formation_control_main_2D.m和ring_formation_control_3D.m
• 更新版本：ring_formation_control_main_2D_update.m和ring_formation_control_3D_update.m

版本区别

• 2D编队控制：

  • 原始版本：基础的环形拓扑2D编队控制实现
  • 更新版本：优化了控制参数，提高了编队稳定性和收敛速度，增强了对外部干扰的抵抗能力

• 3D编队控制：

  • 原始版本：基础的3D空间编队控制实现
  • 更新版本：改进了高度协同算法，增强了碰撞避免功能，优化了姿态控制精度

2D平面编队控制

方法介绍

2D平面编队控制基于环形拓扑结构，通过分布式控制算法实现多无人机在平面内的编队飞行。主要特点：

1. 环形拓扑结构：每个无人机只与相邻的两个无人机通信，形成环形通信网络
2. 分布式控制：无需中央控制器，每个无人机基于局部信息做出决策
3. 一致性算法：通过一致性理论保证所有无人机最终达到期望的编队形状
4. 自适应控制：能够适应外部干扰和初始位置的不确定性

演示效果

3D空间编队控制

方法介绍

3D空间编队控制在2D编队的基础上，扩展到三维空间，实现更复杂的立体编队飞行。主要特点：

1. 三维空间控制：实现无人机在三维空间的编队控制
2. 高度协同：在保持平面编队的同时，协调控制高度变化
3. 姿态控制：考虑无人机的姿态动力学，实现更精确的空间编队
4. 鲁棒性设计：对外部扰动和参数不确定性具有较强的鲁棒性
5. 碰撞避免：包含碰撞避免算法，确保编队过程中无人机之间不发生碰撞

演示效果

算法实现

本项目中的编队控制算法主要基于以下理论：

• 图论和拓扑控制
• 一致性理论
• 非线性控制
• 分布式优化

算法在MATLAB环境中实现，通过仿真验证了算法的有效性和稳定性。

使用说明

1. 运行2D编队控制：
   • 基础版本：执行ring_formation_control_main_2D.m
   • 优化版本：执行ring_formation_control_main_2D_update.m（推荐）
2. 运行3D编队控制：
   • 基础版本：执行ring_formation_control_3D.m
   • 优化版本：执行ring_formation_control_3D_update.m（推荐）
3. 仿真结果将保存在对应的frames文件夹中

图像处理工具

仓库中包含了用于处理仿真生成图像的Python脚本：

• uav_ring_formation2D_update/frames_1/合并.py：用于处理和合并2D编队仿真图像
• uav_ring_formation3D_update/frames_2/新建文本文档.py：用于处理和合并3D编队仿真图像 这些工具可以帮助生成编队过程的可视化展示。

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🇨🇳 中文文档 | 🇺🇸 English

UAV Formation Control Model

This repository contains implementations of UAV formation control algorithms based on ring topology, divided into 2D planar formation and 3D spatial formation modes.

I also maintain other formation-related repos:

• Flocking-Formation-Control: Flocking and formation coordination implementations and experiments
• Formation_Control_quadrangular: Quadrangular formation control implementation

Project Structure

This project includes both original and updated versions of formation control algorithm implementations:

• Original versions: ring_formation_control_main_2D.m and ring_formation_control_3D.m
• Updated versions: ring_formation_control_main_2D_update.m and ring_formation_control_3D_update.m

Version Differences

• 2D Formation Control:

  • Original version: Basic implementation of ring topology 2D formation control
  • Updated version: Optimized control parameters, improved formation stability and convergence speed, enhanced resistance to external disturbances

• 3D Formation Control:

  • Original version: Basic implementation of 3D spatial formation control
  • Updated version: Improved height coordination algorithm, enhanced collision avoidance functionality, optimized attitude control precision

2D Planar Formation Control

Method Introduction

2D planar formation control is based on ring topology structure, implementing multi-UAV formation flight in a plane through distributed control algorithms. Main features:

1. Ring Topology Structure: Each UAV only communicates with two adjacent UAVs, forming a ring communication network
2. Distributed Control: No central controller needed, each UAV makes decisions based on local information
3. Consensus Algorithm: Ensures all UAVs eventually achieve the desired formation shape through consensus theory
4. Adaptive Control: Able to adapt to external disturbances and initial position uncertainties

Demonstration Effect

3D Spatial Formation Control

Method Introduction

3D spatial formation control extends 2D formation to three-dimensional space, implementing more complex spatial formation flight. Main features:

1. Three-dimensional Space Control: Implements UAV formation control in three-dimensional space
2. Height Coordination: Coordinates height changes while maintaining planar formation
3. Attitude Control: Considers UAV attitude dynamics for more precise spatial formation
4. Robust Design: Strong robustness to external disturbances and parameter uncertainties
5. Collision Avoidance: Includes collision avoidance algorithms to ensure no collisions between UAVs during formation

Demonstration Effect

Algorithm Implementation

The formation control algorithms in this project are mainly based on the following theories:

• Graph theory and topology control
• Consensus theory
• Nonlinear control
• Distributed optimization

The algorithms are implemented in MATLAB environment, and their effectiveness and stability have been verified through simulation.

Usage Instructions

1. Run 2D formation control:
   • Basic version: Execute ring_formation_control_main_2D.m
   • Optimized version: Execute ring_formation_control_main_2D_update.m (recommended)
2. Run 3D formation control:
   • Basic version: Execute ring_formation_control_3D.m
   • Optimized version: Execute ring_formation_control_3D_update.m (recommended)
3. Simulation results will be saved in the corresponding frames folder

Image Processing Tools

The repository contains Python scripts for processing simulation-generated images:

• uav_ring_formation2D_update/frames_1/合并.py: For processing and merging 2D formation simulation images
• uav_ring_formation3D_update/frames_2/新建文本文档.py: For processing and merging 3D formation simulation images

These tools help generate visual presentations of the formation process.