Multi-unmanned aerial vehicle cooperative control method and system based on vision and performance constraints

The invention provides a multi-unmanned aerial vehicle cooperative control method and system based on vision and performance constraints. The multi-unmanned aerial vehicle cooperative control method based on vision and performance constraints comprises the following steps: S1, decomposing a total target task to obtain mutually independent sub-tasks, and establishing an unmanned system of the sub-tasks; S2, selecting an optimal navigator from the unmanned system of the current sub-tasks, and enabling a follower to detect an ArUco reference mark carried by the navigator so as to obtain a relative pose of the navigator relative to the navigator; S3, establishing an unmanned system model of the sub-tasks based on a pilot follower framework; S4, designing an error transformation method based ona predetermined task performance specification; and S5, designing a PID control law of the follower according to the converted error, ensuring that the follower follows the navigator according to thepreset task performance,