Unmanned aerial vehicle group cooperative safety control method based on switching topology

Abstract

The invention discloses an unmanned aerial vehicle group cooperative safety control method based on switching topology. The method comprises the following steps: utilizing a time-varying switching topological graph to represent information interaction among unmanned aerial vehicle groups in each switching subsystem; considering the influence of external interference, respectively establishing thesecond-order dynamic equations of an unmanned aerial vehicle pilot and an unmanned aerial vehicle follower in the switching subsystems; designing a safety controller which simultaneously considers external interference and event triggering for tracking the motion track of the unmanned aerial vehicle pilot and keeping the formation among the unmanned aerial vehicle groups of followers; and establishing the equation of an unmanned aerial vehicle group error system under the switching subsystems to obtain the stability condition of unmanned aerial vehicle group error system, and inhibiting external interference by utilizing an H infinite method. The method solves the problems of information interaction, data redundancy and external interference under different formations in unmanned aerial vehicle formation.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control, and in particular relates to an unmanned aerial vehicle group cooperative security control method. Background technique [0002] UAVs have autonomy or remote control. By equipping UAVs with related equipment, the application of UAVs in many scenarios can be realized. For example, drones carrying cameras can be used for photography; drones loaded with lethal weapons can be used in military warfare. Compared with manned aircraft, unmanned aerial vehicles have low cost, no threat of casualties, and strong flexibility. In addition, the rapid development of control technology, communication technology, computer science and material technology in recent years has made the research of unmanned aerial vehicles more popular, especially in the civil and military applications. [0003] However, due to the limited ability of a single UAV to perform tasks, once a failure occurs, the mission wi...

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Problems solved by technology

[0005] In addition, if a follower UAV performs periodic sampling and transmits the collected data to the leader UAV or adjacent follower UAVs in real time, if the sample data does not change much, it will inevitably generate a lot of redundancy. surplus data, causing communication link blockage or even collapse

At the same time, in the UAV formation, external interference is also a major problem that cannot be ignored

UAVs will be subject to various disturbances from the external environment during flight, such as wind and airflow. The safe flight of the UAV formation will lead to collisions between UAVs, and will cause the UAV system to fail to work normally under interference, resulting in the obstruction of mission execution and serious economic losses

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