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Communication control method in multi-UAV cooperative control based on event trigger

A multi-UAV and event-triggered technology, which is applied in control/regulation systems, non-electric variable control, three-dimensional position/channel control, etc., can solve problems such as unrelieved communication pressure, reduced frequency of control updates, waste of resources, etc. , to achieve the effect of maximizing actual engineering value, reducing waste, and intuitive working process

Active Publication Date: 2022-07-08
NAVAL AVIATION UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the event trigger mechanism may have "Zeno behavior", that is, an infinite number of event trigger events occur within a limited time
In the literature "YANG D, REN W, LIU X, et al. Decentralized event-triggered consensus forlinear multi-agent systems under general directed graphs [J]. Automatica, 2016, 69:242-249." Based on directed topology research Distributed event-triggered consensus algorithm eliminates the need for continuous communication between agents, but it only uses its own state value at the trigger time when designing the trigger function, resulting in a certain degree of waste of resources
Literature "XU W, HO D W, LI L, et al.Event-triggered schemes on leader-following consensus of general linear multiagent systems under different topologies[J].IEEE transactions on cybernetics,2015,47(1):212-223. "Based on the Leader-Follower formation structure, distributed, centralized and clustered event trigger structures are proposed for different topological structures, which realizes Follower's tracking of Leader and reduces the frequency of control updates. However, when designing the trigger function When using continuous adjacent UAV information, the communication pressure is not relieved

Method used

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  • Communication control method in multi-UAV cooperative control based on event trigger
  • Communication control method in multi-UAV cooperative control based on event trigger
  • Communication control method in multi-UAV cooperative control based on event trigger

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0117] UAV formation target tracking when ω=0, the simulation diagram of multi-aircraft formation target tracking when ω=0 is as follows Figure 3 to Figure 7 shown.

[0118] image 3 Trajectory diagram of tracking target for UAV formation, UAV can be observed in the picture l It can track the target, and at the same time, the UAV can form a predetermined formation and realize the tracking of the target, which shows the feasibility of using the communication control method in the event-triggered-based multi-UAV cooperative control proposed by the present invention; Figure 4 and Figure 5 They are the error curves of formation position and speed, which are about 10s, and the error curves tend to 0, indicating that at about 10s, each UAV is in the UAV. l Form preset formations around and follow the UAV l continue to track the target; Image 6 The event trigger distribution map during the formation target tracking process during 0-4s and 10-14s is shown. Obviously, the infl...

Embodiment 2

[0123] When ω≠0, UAV formation target tracking, select the value of ω as ω 1 =0.3rad / s, ω 2 =0.8rad / s, the simulation results are as follows Figure 8 to Figure 11 and shown in Table 2.

[0124] Depend on Figure 8 It can be observed that when ω≠0, the communication control method in the event-triggered multi-UAV cooperative control proposed in the present invention is also feasible, and it can be found that when the UAV forms the desired formation, it starts to circle. , and keep circling around the target after tracking the target; Figure 9 and Figure 10 The error curve between the position and speed of the middle formation tends to 0 around 10s. At 13.5s, due to the speed adjustment after the formation has tracked the target, the curve oscillates slightly, but then tends to 0 again soon; Figure 11 The trigger distribution diagram of , we can observe the effect of the event trigger mechanism on reducing the number of communications. Table 2 further confirms that the ...

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Abstract

The invention discloses a communication control method in multi-unmanned aerial vehicle cooperative control based on event triggering. renew. The communication control method solves the problem of frequent information update between UAVs in the process of multi-UAV formation cooperative control, and only uses the state estimation information to design an event trigger function, which makes the problem of communication between UAVs and control update conversion. In order to determine the value of the trigger function, the complexity of the event trigger function algorithm is simplified, and the working process of the trigger mechanism is more intuitive and has great practical engineering value.

Description

technical field [0001] The invention belongs to the field of UAV formation control, and mainly relates to a communication control method in the process of multi-UAV cooperative control, in particular to a communication control method in an event-triggered multi-UAV cooperative control process. Background technique [0002] Formation control of unmanned aerial vehicle (UAV) has always been one of the hot topics in research. Whether in the process of formation formation or target tracking, continuous communication and control updates are required between UAVs to maintain the formation of UAVs. The information between UAVs is transmitted through the communication network, and the communication network bandwidth And computing resources are very limited, so how to reduce the pressure of communication between UAVs in the process of formation target tracking is also an urgent problem to be solved. [0003] In order to overcome the pressure of continuous communication and control u...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104Y02D30/70
Inventor 杨秀霞张毅方国伟严瑄高恒杰于浩王晨蕾
Owner NAVAL AVIATION UNIV
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