Unmanned aerial vehicle output feedback cooperative control system based on dynamic event triggering

Abstract

The invention discloses an unmanned aerial vehicle output feedback cooperative control system based on dynamic event triggering. The unmanned aerial vehicle output feedback cooperative control system comprises a plurality of unmanned aerial vehicle control modules which are connected through a communication topology module; the cooperation module is connected with the communication topology module, the dynamic event triggering module and the distributed dynamic compensation module; the consistency control module is respectively connected with the distributed dynamic compensation module and the distributed observation module; the unmanned aerial vehicle control module is connected with the consistency control module; the plurality of sensors are respectively connected with the distributed observation module; the dynamic event triggering module is connected with the distributed dynamic compensation module; and the dynamic event triggering module is connected with the communication topology module. Through the design of a dynamic event triggering mechanism, unnecessary communication transmission between networks and unnecessary airborne energy consumption caused by continuous communication are reduced, the complexity of controller design is remarkably reduced, the calculation load is reduced, the flexibility of controller design is improved, and engineering implementation is facilitated.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle guidance and control, in particular to an output feedback cooperative control system of an unmanned aerial vehicle based on dynamic event triggering. Background technique [0002] As a product of the continuous development of military technology in modern warfare, UAVs have been widely used in military battlefields and civilian science and technology fields due to their small size, low cost, strong mobility, and low operational difficulty. It has played a wide and important application in construction and science and technology development. However, in more cases, the types of tasks that a single UAV can complete are relatively single, and its operating efficiency is also low. Compared with a single UAV, multi-UAV cluster collaboration can optimize task allocation, improve task execution efficiency, and reduce task execution time. At the same time, when some individuals fail, the ...

AI Technical Summary

Problems solved by technology

[0004] First, most of the existing multi-UAV consensus control schemes use a fixed-period sampling communication method

Due to the small capacity of batteries, microprocessors, communication and perception modules that UAVs can carry, the data transmission capabilities between UAVs are often limited. communication burden

For resource-constrained drones, the existing fixed-period sampling control protocols occupy too much of the limited hardware and software resources of the drone, thus affecting the overall control effect.

[0005] Second, some existing multi-UAV consensus control research needs to rely on the precise mathematical model of the UAV, which has poor anti-interference ability

When the UAV dynamics system is subject to external interference caused by complex airflow and extreme weather, the control effect will be greatly reduced, making it difficult for multiple UAVs to achieve formation consistency tasks

[0006] Third, the execution of the existing multi-UAV consensus control protocol usually needs to rely on some global information of the UAV swarm system, such as the characteristic information dependent on the communication topology and the total number of the UAV swarm system, etc. The use of such global information affects the design flexibility of the consensus control protocol

Once the failure of some UAVs leads to changes in the communication topology or the total number of feasible UAVs, it is difficult to continue to complete the formation consistency control task

Images