A Distributed Formation Control Method for Unmanned Aerial Vehicles Based on Event-Driven Strategy

By constructing an event-driven strategy for UAV formation control, this method solves the problems of global information dependence and high-frequency updates in UAV formation control, achieving low-frequency updates and hardware protection, and is suitable for complex large-scale networks.

CN115857539BActive Publication Date: 2026-05-26TONGJI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
TONGJI UNIV
Filing Date
2022-11-18
Publication Date
2026-05-26

AI Technical Summary

Technical Problem

Existing drone formation control protocols rely on global network topology information, resulting in frequent controller updates. They are not suitable for complex, large-scale networks, and high-frequency updates accelerate hardware fatigue.

Method used

A distributed formation control method for UAVs based on an event-driven strategy is adopted. By constructing a dynamic model, a communication topology diagram, and event-driven conditions, local information interaction and controller updates are achieved, avoiding global information dependence and making it suitable for complex large-scale networks.

Benefits of technology

It reduces the update frequency of the drone formation controller, saves energy, avoids hardware wear and tear, and achieves scale-free formation control, adapting to changes in the number of individual drones and switching of connection relationships.

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Abstract

This invention relates to a distributed formation control method for unmanned aerial vehicles (UAVs) based on an event-driven strategy, comprising the following steps: Step 1: Acquire UAV data and establish a UAV system; the UAV system includes a lead UAV and follower UAVs; Step 2: Acquire formation data from the UAV system, input it into the UAV formation control system, and determine whether an event-driven condition is triggered; if not triggered, the UAV system maintains its initial state and executes Step 2; if triggered, execute Step 3; Step 3: The UAV formation controller updates, and the UAV system performs local information interaction to change the distribution state of the UAVs. Compared with existing technologies, this invention effectively avoids the dependence of the controller and triggering conditions on global information, achieves scale-free UAV formation, and is applicable to situations such as changes in the number of individual UAVs and switching of inter-UAV connection relationships.
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