Multi-UAV formation consistency control method based on event-triggered communication

Abstract

The invention discloses a multi-unmanned aerial vehicle formation consistency control method based on event-triggered communication. The distributed control architecture removes the control center in the centralized control architecture, so there is no formation failure due to the destruction of the central control node; The computing tasks of the man-machine formation are distributed from the control center to the onboard computers of the member UAVs, which greatly improves the overall computing power of the formation and relieves the performance bottleneck caused by computing power; by introducing an event-triggered communication mechanism, the algorithm does not need to A control loop communicates continuously to obtain information on the cooperative state, and only needs to communicate intermittently under the condition of triggering the communication. Compared with the consensus algorithm based on continuous communication, this algorithm can greatly reduce the amount of network information transmission, use the limited communication bandwidth for the transmission of more task information, and reduce the dependence on the performance of the communication system. Short-term communication interruption or signal Interference has a certain tolerance, which is conducive to engineering realization.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle guidance and control, and in particular relates to a multi-unmanned aerial vehicle formation consistency control method based on event-triggered communication. Background technique [0002] Multi-UAV formation flight refers to the form in which multiple UAVs are arranged in a certain formation to fly together. Formation control technology runs through the entire process of multi-UAV formation flight, which is of great significance to the smooth development and completion of tasks. [0003] The current UAV formation control mostly adopts a centralized architecture control method. The centralized control architecture needs to set up a control center, which controls the global state information, is responsible for control algorithm calculation and command generation, and sends commands to member drones through communication links. The member UAVs respond to the instructions of the c...

AI Technical Summary

Problems solved by technology

There are inevitably delays, interruptions and instability in communication between UAVs

[0006] (2) The control center becomes the bottleneck of system performance

The global status information and control signals of the formation are all concentrated in the control center. If the processing capacity of the control center reaches the upper limit, it will restrict the further improvement of the performance of the formation system

In addition, if the control center fails or is attacked and destroyed, the entire formation system will be paralyzed, and the robustness of the system structure is poor

[0007] (3) It is difficult for the control center to guarantee the real-time performance of the system

In the face of increasingly complex UAV formation application scenarios, it is necessary to establish a distributed formation control method to solve the communication dependence, performance bottleneck and real-time problems of the UAV control center.

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