Failure individual isolation/removal-based bee colony unmanned aerial vehicle reconfigurability evaluation method

A UAV, reconfigurable technology, applied in the direction of control/regulation systems, instruments, adaptive control, etc., can solve the problems of UAV communication link hijacking, control command manipulation, etc., to reduce impact and improve performance Effect

CN112882385AActive Publication Date: 2021-06-01NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-06-01

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Abstract

The invention discloses a failure individual isolation / removal-based bee colony unmanned aerial vehicle reconfigurability evaluation method, and belongs to the field of fault-tolerant control of swarm unmanned aerial vehicles. The existence of failure individuals which are maliciously attacked is considered, and the behaviors of the individuals usually cause abnormity of interaction information in a bee colony or communication link faults, and the failure individuals can be propagated in a network. According to bee colony interaction topology characteristics, a double-layer multi-partition structure and a cascade fault model of the bee colony network are established, and on this basis, a concept of maximum reconfigurable components is proposed to establish bee colony reconfigurability conditions. New conditions are used to reveal the ability to still maintain connectivity and consistency between followers and a leader after removal of the failure individuals. According to the method, the limitation that a bee colony unmanned aerial vehicle system is difficult to work normally due to a traditional physical layer fault is overcome, and the fault-tolerant capability of the unmanned aerial vehicle bee colony under hostile attacks and the importance degree of a single unmanned aerial vehicle in the bee colony network are evaluated from the network level.
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Description

technical field

[0001] The invention relates to the field of fault-tolerant control of swarm drones, in particular to a reconfigurability evaluation method for swarm drones based on isolation / removal of faulty individuals. Background technique

[0002] Bee colony behavior is a common collective behavior of low-level social organisms such as fish swarms, bird swarms, and bee swarms in nature. Coordinated overall behavior emerges from simple local rules. Inspired by this, the concept of drone swarms is proposed. UAV swarms usually consist of a class of low-cost, simple-structured UAVs, which can complete high-risk control tasks with limited information and specific interaction rules.

[0003] For a flight control system, reliability and stability are the most important performance. In other words, how to ensure better stability and reliability as a UAV that replaces humans to perform tasks in complex environments is a hot topic for scientists to study. Even in some cases, ...

Examples

Embodiment Construction

[0060] The present invention will be further described below in conjunction with the accompanying drawings.

[0061] The swarm unmanned aerial vehicle mentioned in the present invention adopts small fixed-wing unmanned aerial vehicle device, and fixed-wing unmanned aerial vehicle device comprises wing, fuselage, empennage, landing gear and power plant, wherein:

[0062] Wing: used to generate the lift required for flight, including spars, longitudinal walls, stringers, ribs and skins.

[0063] Fuselage: used to load fuel and equipment, and also used as a carrier for wings, empennage, landing gear and power plant.

[0064] Tail: used to stabilize and manipulate the pitch and deflection of the fixed-wing UAV. The empennage comprises a horizontal empennage and a vertical empennage, and the horizontal empennage is installed horizontally on the tail of the fuselage, including a fixed horizontal stabilizer and a rotatable elevator thereafter. The vertical tail is installed vertica...