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

An unmanned aerial vehicle, limited time technology, applied in the field of unmanned aerial vehicles, can solve the problem that the communication network cannot form an undirected topology, and achieve the effect of small calculation and continuous controller signal

Active Publication Date: 2021-03-26
NORTHWESTERN POLYTECHNICAL UNIV
View PDF3 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In addition, most of the existing research on the cooperative formation of UAVs is based on the undirected communication topology, that is, the communication interaction between UAVs is bidirectional
However, in practical applications, due to economic or technical reasons, such as communication costs or communication failures, many communication networks cannot form an undirected topology

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Unmanned aerial vehicle finite time formation method using directed communication topological structure
  • Unmanned aerial vehicle finite time formation method using directed communication topological structure
  • Unmanned aerial vehicle finite time formation method using directed communication topological structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0036] refer to figure 1 and figure 2 , the present invention provides a finite-time formation method for unmanned aerial vehicles using a directed communication topology, the method comprising the following steps:

[0037] During the flight, the UAV continuously obtains its own status information through the airborne inertial measurement unit, and transmits this status information to the distributed finite-time formation controller and / or other UAVs, and se...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 李玥杨军朱学平朱苏朋袁博
Owner NORTHWESTERN POLYTECHNICAL UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products