Unmanned aerial vehicle finite time formation method using directed communication topological structure

Abstract

The invention discloses an unmanned aerial vehicle finite time formation method using a directed communication topological structure, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps that an unmanned aerial vehicle obtains the state information of the unmanned aerial vehicle, receives the state information transmitted by an adjacent unmanned aerialvehicle, and transmits the obtained state information to a distributed finite time formation controller; and the distributed finite time formation controller forms a maneuvering instruction through conversion and calculation according to the formation configuration information, the acquired state information of the adjacent unmanned aerial vehicles and the state information of the distributed finite time formation controller, and the unmanned aerial vehicles change the course or speed and fly along a predetermined orbit under the requirement of the maneuvering instruction. Compared with a traditional method, the position errors ep and i in the method do not use formation trajectory information, finite time stability of the controlled system can be achieved, and the method has the advantages that controller signals are continuous, the calculated amount is small, the controlled system does not need to meet the homogeneity hypothesis, and a directed communication topological structure isused.

Description

technical field

[0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a limited-time formation method for unmanned aerial vehicles using a directed communication topology. Background technique

[0002] Unmanned aerial vehicles play a huge role in the military and civilian fields. A large number of facts have proved that there are still many problems when a single unmanned aerial vehicle performs tasks. For example, the limitation of the sensor angle makes it impossible for the unmanned aerial vehicle to effectively cover the entire reconnaissance area when searching for targets in a wide range. In order to improve the success rate of unmanned aerial vehicles to complete a single mission, and to broaden the scope of use of unmanned aerial vehicles, the multi-unmanned aerial vehicles cooperative formation technology emerged as the times require. Considering the motion characteristics of UAVs, the flight formation system requires hig...

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