Distributed UAV formation collaborative control method

Abstract

The invention discloses a distributed unmanned aerial vehicle formation cooperative control method, and relates to the technical field of unmanned aerial vehicle control methods. The method includes the steps of: constructing the control input of the drone through the position of the drone in the formation of the drone, the speed of the drone, and the expected formation movement information; controlling the drone through the control input of the constructed drone. The UAVs in the aircraft formation perform coordinated flight. The method is suitable for the case where the delay function is bounded. Since the derivative characteristics of the delay function do not need to be emphasized, the applicability is strong; and only the connected parts in the fixed communication topology in the time subinterval need to be calculated, which is equivalent to The problem of solving the high-dimensional matrix is ​​transformed into the solution of several low-dimensional matrices, which greatly reduces the amount of calculation and improves the real-time performance; and can realize the formation configuration of any symmetric / asymmetric shape.

Description

technical field [0001] The present invention relates to the technical field of UAV control methods, in particular to a distributed UAV formation cooperative control method. Background technique [0002] In recent years, due to the characteristics of high efficiency, good effect, flexibility and robustness in the implementation of battlefield target detection, multi-target attack, tracking and surveillance, implementation of electromagnetic interference and low-altitude penetration, UAV formation cooperative control has gradually It has become one of the research hotspots in the field of UAV. Since the topology change and time delay of the communication network have an important impact on the formation control, many literatures have studied this, but most of the literature assumes that the communication topology is fixed, although the existing technology considers both the time delay and the topology change. However, it is for slow-varying time-delay, linear time-delay and c...

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Problems solved by technology

Since the topology change and time delay of the communication network have an important impact on the formation control, many literatures have studied this, but most of the literature assumes that the communication topology is fixed, although the existing technology considers both the time delay and the topology change. The study of the situation, but for slowly varying time delays, linear time delays and constant time delays, the consideration of time delays is ideal

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