A finite-time affine formation flight control method for UAV swarms
A limited time, formation flight technology, applied in the direction of control/regulation system, non-electric variable control, three-dimensional position/course control, etc., can solve the problems of insufficient robustness and adaptability, inflexible formation configuration design, etc. Achieve good adaptability, avoid collisions and ensure safety
Active Publication Date: 2022-05-10
BEIHANG UNIV
View PDF3 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] Aiming at the problems of inflexible formation configuration design, insufficient robustness and adaptability of existing UAV formation flight control methods, the present invention aims to design a collision-free UAV cluster finite-time affine formation flight Control method to improve the adaptability of UAV swarms to uncertain flight environments and maneuver changes
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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0115] See figure 1 , the effectiveness of the method proposed in the present invention is verified below through a specific example of UAV swarm finite-time affine formation control. The concrete steps of this method are as follows:
[0116] Step 1: Initialize
[0117] In three-dimensional space, the initial flight states of n=9 UAVs are randomly generated, including the spatial position p 1 =[-1.64,2.35,14.77] T m, p 2 =[-0.17,1.84,11.76] T m, p 3 =[0.73,2.39,7.36] T m, p 4 =[-0.87,1.02,7] T m, p 5 =[-1.09,-0.58,10.71] T m, p 6 =[-2.82,-1.60,11.58] T m, p 7 =[-1.51,0.52,5.90] T m, p 8 =[-1.09,1.65,7.10] T m and p 9 =[-0.54,1.71,14.03] T m, airspeed V i =10m / s, heading angle ψ i = 0rad and altitude change rate h i =0m / s, where the subscript i represents the serial number of the drone. The maximum simulation time and sampling time are respectively set to T max = 35s and T s = 0.01s.
[0118] In addition, place 6 obstacles in the environment, two of whi...
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
Login to View More Abstract
The invention discloses a limited-time affine formation flight control method for UAV clusters: determine the nominal formation configuration of the UAV cluster, select the pilot UAV according to the nominal formation configuration of the UAV cluster; determine the communication of the UAV cluster Topology, based on the communication topology and nominal formation configuration, solve the stress matrix of the UAV cluster; calculate the obstacle avoidance function between the pilot UAV and the obstacles in the environment; generate the expected position and velocity of the pilot UAV; calculate The finite-time flight control law of the pilot UAV; update the flight state of the pilot UAV; calculate the finite-time flight control law of the following UAV; update the flight state of the following UAV; continue this process until the termination condition is met. The method of the invention is simple to implement, has great flexibility in the formation shape of the UAV cluster, ensures that the UAV cluster can form a time-varying formation configuration within a limited time, and has good adaptability to uncertain environments and maneuver changes ability.
Description
technical field [0001] The invention relates to a finite-time affine formation flight control method of an unmanned aerial vehicle cluster, which belongs to the technical field of unmanned aerial vehicle cluster cooperative control. Background technique [0002] Through the interaction and sharing of information, UAV swarms can perform tasks such as collaborative search, rescue, reconnaissance and strike in the form of functional distribution, thereby effectively improving the survival rate of the system and the ability to perform tasks. It has flexible deployment methods, strong robustness and reliability. Good scalability and many other advantages. UAV cluster formation flight refers to the three-dimensional space arrangement of multiple autonomous UAVs according to a certain geometric configuration, and can maintain a stable formation during the flight, and can dynamically adjust the formation according to the external environment and task requirements. structure. [00...
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
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 段海滨陈琳魏晨邓亦敏李卫琪
Owner BEIHANG UNIV