Grouping consistency unmanned aerial vehicle formation control method considering time-varying formation

Abstract

The invention discloses a grouping consistency unmanned aerial vehicle formation control method considering time-varying formation. The method comprises the steps of: firstly constructing a second-order integral mathematic model, determining the topological structure of multiple unmanned aerial vehicles, and describing the topological relation of the unmanned aerial vehicles through the knowledge of the graph theory; designing a grouping consistency multi-unmanned aerial vehicle control protocol considering time-varying formation; analyzing the consistency problem of a system by utilizing the properties of the matrix theory and the modern control theory to obtain a convergence condition; and determining a control coefficient of the control protocol conforming to the system convergence condition, and substituting the control coefficient into the control protocol to realize grouping consistency control of the system. According to the multi-unmanned aerial vehicle formation grouping consistency control method capable of setting a formation function in any form, the global control problem is solved through a distributed control method, meanwhile, sub-graphs do not need be connected graphs, and the system robustness is improved. The multi-unmanned aerial vehicle formation grouping consistency control method is suitable for multi-unmanned aerial vehicle grouping consistency control under the condition of time varying of any formation.

Description

technical field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a formation control method of unmanned aerial vehicles. Background technique

[0002] The formation control of multi-UAV systems has attracted the attention of many researchers because of its broad application prospects in military and civilian fields. The control effects of formation control based on multi-UAV system research at home and abroad mainly include: formation generation, formation maintenance, formation switching, formation obstacle avoidance, and adaptive control. To achieve the above control effects, traditional control methods mainly include: behavior-based control methods, leader-follower methods, and methods based on virtual structures. But with the development of consistency theory, formation control based on consistency theory has also achieved fruitful results. And from a theoretical point of view, the traditional formation contr...

Examples

specific Embodiment

[0131] Based on attached figure 2 The topological structure is simulated and verified. There are 5 drones participating in the simulation, which are divided into two groups: the first group is three, numbered 1, 2, 3; the second group is two, numbered 4, 5. The corresponding adjacency matrix is ​​as follows:

[0132]

[0133] The Laplacian matrix is:

[0134]

[0135] The time-varying formation is attached Figure 5 And attached Figure 6 are the position and velocity trajectories of the time-varying formation function during formation flight simulation, respectively.

[0136] The controller parameter is K=[k 1 ,k 2 ] = [0.8156, 1.4127].

[0137] The initial state of the UAV formation is:

[0138]

[0139] combined with figure 2 The topology shown above and the initial state settings above, the simulation results are shown in the attached image 3 , attached Figure 4 And attached Figure 7 shown.

[0140] From attached image 3 And attached Figure...

technical field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a formation control method of unmanned aerial vehicles. Background technique

[0002] The formation control of multi-UAV systems has attracted the attention of many researchers because of its broad application prospects in military and civilian fields. The control effects of formation control based on multi-UAV system research at home and abroad mainly include: formation generation, formation maintenance, formation switching, formation obstacle avoidance, and adaptive control. To achieve the above control effects, traditional control methods mainly include: behavior-based control methods, leader-follower methods, and methods based on virtual structures. But with the development of consistency theory, formation control based on consistency theory has also achieved fruitful results. And from a theoretical point of view, the traditional formation contr...

Examples

specific Embodiment

[0131] Based on attached figure 2 The topological structure is simulated and verified. There are 5 drones participating in the simulation, which are divided into two groups: the first group is three, numbered 1, 2, 3; the second group is two, numbered 4, 5. The corresponding adjacency matrix is ​​as follows:

[0132]

[0133] The Laplacian matrix is:

[0134]

[0135] The time-varying formation is attached Figure 5 And attached Figure 6 are the position and velocity trajectories of the time-varying formation function during formation flight simulation, respectively.

[0136] The controller parameter is K=[k 1 ,k 2 ] = [0.8156, 1.4127].

[0137] The initial state of the UAV formation is:

[0138]

[0139] combined with figure 2 The topology shown above and the initial state settings above, the simulation results are shown in the attached image 3 , attached Figure 4 And attached Figure 7 shown.

[0140] From attached image 3 And attached Figure...

Images