Reconfigurability Evaluation Method of Swarm UAV Based on Isolation/Removal of Faulty Individuals

A UAV, reconfigurable technology, applied in control/regulation systems, instruments, adaptive control, etc., can solve problems such as control command manipulation, UAV communication link hijacking, etc.

Active Publication Date: 2022-04-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

at times, communication links between drones may be hijacked, or control commands may be manipulated

Method used

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  • Reconfigurability Evaluation Method of Swarm UAV Based on Isolation/Removal of Faulty Individuals
  • Reconfigurability Evaluation Method of Swarm UAV Based on Isolation/Removal of Faulty Individuals
  • Reconfigurability Evaluation Method of Swarm UAV Based on Isolation/Removal of Faulty Individuals

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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...

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Abstract

The invention discloses a swarm unmanned aerial vehicle reconfigurability evaluation method based on isolation / removal of faulty individuals, and belongs to the field of fault-tolerant control of swarm unmanned aerial vehicles. Consider the existence of a class of maliciously attacked faulty individuals. The behavior of these individuals usually causes abnormal interaction information or communication link failures in the swarm, and can spread in the network. According to the interactive topological characteristics of the bee colony, a two-layer multi-partition structure and a cascading fault model of the bee colony network are established. condition. The new conditions are used to reveal the ability of followers and leaders to remain connected and consistent after removing faulty individuals. The invention overcomes the limitation of the traditional physical layer failure that makes the swarm unmanned aerial vehicle system difficult to work normally, and evaluates the fault tolerance capability of the unmanned aerial vehicle swarm under malicious attack from the network level and the performance of a single unmanned aerial vehicle in the swarm network. Importance.

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, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨浩彭悦姜斌
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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