Unmanned aerial vehicle and unmanned vehicle heterogeneous cluster formation tracking control method under topology switching

Abstract

The invention discloses an unmanned aerial vehicle and unmanned vehicle heterogeneous cluster formation tracking control method under topology switching. The tracking control method comprises the following steps: constructing a virtual leader of a heterogeneous formation; constructing a time-varying formation vector of the heterogeneous formation according to an expected time-varying formation configuration of the heterogeneous formation; establishing a distributed state observer for estimating the state of the virtual leader by members in the heterogeneous formation under a topology switchingcondition; establishing a system state observer for estimating the states of the members in the heterogeneous formation; constructing a distributed time-varying formation tracking controller; controlling the virtual leader to move according to the expected movement track of the heterogeneous formation; and controlling the members of the heterogeneous formation to track the motion tracks of the virtual leader through the distributed time-varying formation tracking controller. Therefore, a cluster system composed of multiple unmanned aerial vehicles and unmanned vehicles can track the expectedreference track while forming an expected time-varying formation configuration under a topology switching condition, and distributed time-varying formation tracking motion of a heterogeneous cluster system is realized.

Description

technical field [0001] The invention relates to the technical field of formation control, in particular to a formation tracking control method for heterogeneous clusters of unmanned aerial vehicles and unmanned vehicles under topology switching. Background technique [0002] The collaborative control of swarm systems has shown great application potential in many military and civilian fields including aerospace, such as multi-micro-nano satellite deep space exploration, multi-UAV cooperative reconnaissance, multi-missile saturation attack, multi-unmanned boat Coordinated patrol and multi-robot collaborative handling, etc. Formation control is one of the important topics in the coordinated control of swarm systems. By adjusting the relative position relationship between agents, the swarm system can form a specific formation, which can create favorable conditions and provide technical support for tasks including cooperative reconnaissance, detection, defense penetration, round...

AI Technical Summary

Problems solved by technology

Since UAVs and unmanned vehicles have different dynamic models and their state dimensions are different, the existing formation control methods for homogeneous swarm systems are difficult to apply directly

In addition, most of the existing methods can only achieve time-invariant formation configurations. In practical applications, in order to cope with complex external environments and changes in tasks, multi-robot systems need to be able to dynamically adjust their own formation formations in real time. Formation is more practical and general

The information exchange between individuals in the cluster system is the basis for ensuring the control of the entire formation. However, in practical applications, due to environmental constraints, it is often difficult to maintain stable communication between individuals, and the links between individuals may be interrupted and reconnected. Therefore, research on topology switching Realizing the time-varying formation tracking control of UAV-UAV heterogeneous swarm system under certain conditions is a technical problem to be broken through

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