A method and system for cooperative control of a water-air amphibious unmanned aerial vehicle group

Abstract

The application discloses a kind of water-air amphibious unmanned aerial vehicle group cooperative control method and system, it is related to water-air amphibious unmanned aerial vehicle group cooperative control field.The application is from the angle of heterogeneous switching system theory, water-air amphibious unmanned aerial vehicle group is modeled;Given the communication topological relationship of water-air amphibious unmanned aerial vehicle group heterogeneous switching system;For water-air amphibious unmanned aerial vehicle group heterogeneous switching system constructs suitable virtual system;On this basis, define the trajectory tracking error of water-air amphibious unmanned aerial vehicle group heterogeneous switching system;For its design cooperative controller, and for system constructs suitable Lyapunov function.The application scheme is realized to the cooperative control of water-air amphibious unmanned aerial vehicle group by heterogeneous switching system control theory, and ensures that water-air amphibious unmanned aerial vehicle group always maintains stable in the process of completing task, improves the reliability of system.

Description

Technical Field

[0001] This invention relates to the field of collaborative control of amphibious unmanned aerial vehicle (UAV) swarms, specifically to a collaborative control method and system for amphibious UAVs. Background Technology

[0002] In recent years, global resource shortages and environmental pollution have become increasingly severe. To better conduct resource exploration and environmental protection work, countries around the world have launched research on unmanned mobile platforms, and have successively developed a variety of high-performance sea, land, and air unmanned mobile platforms. To further expand the operational space and business scope of existing single-medium mobile platforms, researchers both domestically and internationally have gradually shifted their focus to "multi-amphibious" mobile platforms, making progress in areas such as amphibious aircraft, submersible aircraft, and flying cars. Furthermore, with the rapid development of high-tech and disruptive technologies in my country, and the deepening of my country's "maritime power" strategy, research on cross-medium amphibious unmanned aerial vehicles (UAVs) in my country will have significant strategic importance and broad application prospects.

[0003] Amphibious unmanned aerial vehicles (UAVs) are a type of unmanned aerial vehicle (UAV) that combines the advantages of multi-rotor aircraft and unmanned vessels, enabling them to operate in both air and water environments. Initially widely used in the military for emergency penetration, their development has led to the emergence of more amphibious designs for civilian applications, resulting in the rapid development of amphibious UAVs in the civilian sector. Generally, amphibious UAVs refer to integrated unmanned systems capable of flying in air and navigating in water. In recent years, countries worldwide have begun to focus on the research of amphibious unmanned control systems. Internationally, developed countries such as the US and UK, along with renowned institutions like Harvard University, MIT, and Imperial College London, have begun exploring and researching integrated amphibious unmanned systems. Domestically, my country faces increasing challenges in maritime rights protection and water quality monitoring. These amphibious UAVs offer unparalleled advantages over other unmanned systems in island protection and surveillance, as well as water sampling. Furthermore, the integration of multiple unmanned system functions provides new ideas for water rescue equipment, significantly improving rescue efficiency and reducing losses.

[0004] When performing the aforementioned tasks, individual amphibious drones suffer from limitations such as restricted capabilities and low survivability, making it impossible to guarantee mission efficiency and completion. Therefore, the coordinated execution of missions by amphibious drone swarms has become a popular research area. As intelligent devices, the prerequisite for the deployment of amphibious drone swarms is the realization of autonomous functions, and control technology is an essential and crucial element in achieving this. During search and rescue, reconnaissance, and other missions, amphibious drone swarms exhibit variable-order switching characteristics. Increasing or decreasing the system order dramatically increases the complexity of the problem, thus necessitating the search for new control technologies to achieve autonomous and coordinated control of amphibious drone swarms. Summary of the Invention

[0005] To overcome the shortcomings of existing control technologies, this invention aims to provide a collaborative control system and method for an amphibious unmanned aerial vehicle (UAV) swarm, which addresses the strong nonlinear characteristics of the system caused by the variable order switching during mission completion, thereby achieving collaborative control of the amphibious UAV swarm.

[0006] Firstly, this application provides a cooperative control method for an amphibious unmanned aerial vehicle (UAV) swarm, the method comprising:

[0007] Step 1: Based on the theory of heterogeneous switching systems, construct a heterogeneous switching system model for amphibious unmanned aerial vehicle (UAV) swarms;

[0008] Step 2: Provide the communication topology diagram of the heterogeneous switching system for an amphibious unmanned aerial vehicle swarm;

[0009] Step 3: Construct a virtual system for the heterogeneous switching system of amphibious unmanned aerial vehicle swarms;

[0010] Step 4: Construct the trajectory tracking error of the heterogeneous switching system for amphibious unmanned aerial vehicle (UAV) swarms;

[0011] Step 5: Design a collaborative control protocol for the heterogeneous switching system of amphibious unmanned aerial vehicle (UAV) swarms;

[0012] Step 6: Construct the Lyapunov function for the amphibious unmanned aerial vehicle swarm system.

[0013] Step 7: Implement coordinated control of the amphibious unmanned aerial vehicle swarm using the designed coordinated control protocol.

[0014] Optionally, combining heterogeneous switching system theory, a heterogeneous switching system model is constructed for amphibious unmanned aerial vehicle (UAV) swarms, including:

[0015] Step 1-1: Model the amphibious drone as a quadcopter when it is flying in the air. The specific model is as follows:

[0016] (11)

[0017] in, Indicates the number of quadcopters. Indicates the position and status of a quadcopter. These represent the roll angle, pitch angle, and yaw angle, respectively. For the mass of a quadcopter, This is the distance from the rotor center to the fuselage center of gravity. It is the acceleration due to gravity. These are the moments of inertia of the quadcopter about its three axes; The vector consisting of the lift resultant force, roll resultant force, pitch resultant force, and yaw resultant force of the four motors is the input of the system.

[0018] Step 1-2, let , , , , The model is represented in the following form:

[0019] (12)

[0020] in, , , .

[0021] Steps 1-3: Model the amphibious drone as an unmanned surface vessel when it is navigating on the water. The model is as follows:

[0022] (13)

[0023] in, They represent the first The unmanned surface vessel's position relative to the ground and its yaw angle. They represent the first The unmanned surface vessel's yaw rate, vertical yaw rate, and yaw angle rate are as follows: Indicates the first The control input for an unmanned surface vessel Represents the inertia matrix. Represents the centrifugal force matrix. Represents the damping matrix. The system rotation matrix is ​​expressed as follows:

[0024] (14)

[0025] Steps 1-4, let , The model is represented in the following form:

[0026] (15)

[0027] in, , , ;

[0028] Steps 1-5: Use variable-order switching system theory to represent the mode transitions of amphibious UAVs during surface navigation and aerial flight, thus obtaining a heterogeneous switching system model for an amphibious UAV swarm:

[0029] (16)

[0030] in, Indicates the system switching signal, Indicates the number of subsystems. The starting time; the leader in system (6) is determined by a signal. It means, and It is continuously differentiable and has a constant. Make .

[0031] Optionally, given a communication topology diagram of a heterogeneous switching system for an amphibious unmanned aerial vehicle swarm, including:

[0032] Each amphibious drone was labeled and grouped. This indicates that adjacent amphibious drones are identified, and the first... The neighbor set of an amphibious drone is The communication topology of the amphibious unmanned aerial vehicle (UAV) swarm is defined as an undirected graph, using... It means, and They are interconnected; each amphibious drone can communicate with its neighbors and obtain their status information. Aquatic drone and the first The communication weight of each amphibious drone is ,use This represents the adjacency matrix. If there is a communication connection between two amphibious unmanned aerial vehicles (UAVs), then... ,otherwise And it does not allow self-looping, that is .

[0033] Optionally, the following virtual system can be constructed for the heterogeneous system of amphibious unmanned aerial vehicle swarms:

[0034] (17)

[0035] in, , Indicates the first The virtual trajectory of an amphibious drone. This indicates the movement trajectory of the leader of the amphibious drones. , , , This represents the Lipschitz constant. and Represent matrices respectively The minimum and maximum eigenvalues.

[0036] In the case that the communication topology of a heterogeneous amphibious unmanned aerial vehicle (UAV) swarm is undirected and connected, when time... At that time, it made , , Indicates the first The offset of an amphibious drone from the center of the formation.

[0037] Optionally, a trajectory tracking error system for a heterogeneous switching system of an amphibious unmanned aerial vehicle swarm is constructed, specifically including:

[0038] Define state errors respectively , Taking the derivative with respect to the error yields the error system:

[0039] (18)

[0040] Optionally, the cooperative control protocol design for the heterogeneous switching system of the amphibious unmanned aerial vehicle swarm is as follows:

[0041] (19)

[0042] in, .

[0043] Optionally, combining Lyapunov stability theory, the following Lyapunov function is constructed for the error system of an amphibious unmanned aerial vehicle swarm:

[0044] (20)

[0045] Secondly, this application provides a collaborative control system for an amphibious unmanned aerial vehicle (UAV) swarm, the system comprising:

[0046] The model building unit for the heterogeneous switching system of amphibious unmanned aerial vehicle swarm is used to construct the dynamic model of the amphibious unmanned aerial vehicle swarm system by combining switching system theory.

[0047] The amphibious unmanned aerial vehicle (UAV) swarm communication topology design unit is used to design the communication topology of an amphibious unmanned aerial vehicle (UAV) swarm.

[0048] The virtual system construction unit for amphibious unmanned aerial vehicle swarms is used to construct the first... A virtual system is constructed by setting a preset trajectory for each amphibious drone, setting virtual excitation signals, and building a swarm of amphibious drones.

[0049] The amphibious unmanned aerial vehicle (UAV) swarm error system design unit is used to define tracking errors and generate the amphibious unmanned aerial vehicle (UAV) swarm error system.

[0050] The design unit for the cooperative control protocol of amphibious unmanned aerial vehicle (UAV) swarms is used to design the cooperative control protocol for amphibious UAV swarms.

[0051] The system consistency analysis unit is used to construct the Lyapunov function of the system and perform consistency analysis on the system.

[0052] The effects described in the invention are merely those of the embodiments, and not all the effects of the invention. One of the above technical solutions has the following advantages or beneficial effects:

[0053] 1) The multi-aquatic amphibious heterogeneous switching UAV collaborative control in this invention is a novel collaborative control strategy with significant collaborative effects. It greatly improves the task allocation and execution efficiency of amphibious UAV swarms and realizes autonomous intelligent control of amphibious UAVs.

[0054] 2) In the method of the present invention, considering the variable order switching characteristics of the amphibious unmanned aerial vehicle swarm during the mission, it is modeled as a multi-amphibious heterogeneous switching system, laying the foundation for subsequent operation steps.

[0055] 3) The collaborative control protocol with pre-designed trajectory interaction in this invention realizes the collaborative autonomous operation of amphibious UAVs and establishes a protocol framework that can guide the realization of collaboration, which has high engineering practical value. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of a collaborative control method for an amphibious unmanned aerial vehicle swarm according to the present invention.

[0057] Figure 2 This is a structural diagram of a single amphibious unmanned aerial vehicle of the present invention;

[0058] Figure 3 This is a communication topology diagram of the amphibious unmanned aerial vehicle (UAV) swarm of the present invention;

[0059] Figure 4 This is a schematic diagram of the cooperative control protocol algorithm for amphibious unmanned aerial vehicle swarms of the present invention;

[0060] Figure 5 This is a schematic diagram of the switching signal for an amphibious unmanned aerial vehicle (UAV) swarm according to an embodiment of the present invention.

[0061] Figure 6 This is a schematic diagram of the three-dimensional spatial response curve of an amphibious unmanned aerial vehicle swarm according to an embodiment of the present invention;

[0062] Figure 7 Aquatic unmanned aerial vehicle swarm as an embodiment of the present invention Response curve diagram;

[0063] Figure 8 Aquatic unmanned aerial vehicle swarm as an embodiment of the present invention Response curve diagram;

[0064] Figure 9 Aquatic unmanned aerial vehicle swarm as an embodiment of the present invention Response curve diagram;

[0065] Figure 10 The roll angle of the amphibious unmanned aerial vehicle swarm in this embodiment of the invention. Response curve diagram;

[0066] Figure 11 The pitch angle of the amphibious unmanned aerial vehicle swarm in this embodiment of the invention. Response curve diagram;

[0067] Figure 12 The yaw angle of the amphibious unmanned aerial vehicle swarm in this embodiment of the invention. Response curve diagram;

[0068] Figure 13 This is a schematic diagram of a collaborative control structure for an amphibious unmanned aerial vehicle (UAV) swarm system according to the present invention. Detailed Implementation

[0069] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0070] Figure 1 A schematic flowchart of a collaborative control method for an amphibious unmanned aerial vehicle swarm according to the present invention is shown.

[0071] Reference Figure 1 The method of this invention includes the following steps:

[0072] Step 1: Based on the theory of heterogeneous switching systems, construct a heterogeneous switching system model for amphibious unmanned aerial vehicle (UAV) swarms;

[0073] Step 2: Provide the communication topology diagram of the heterogeneous switching system for an amphibious unmanned aerial vehicle swarm;

[0074] Step 3: Construct a virtual system for the heterogeneous switching system of amphibious unmanned aerial vehicle swarms;

[0075] Step 4: Construct the trajectory tracking error of the heterogeneous switching system for amphibious unmanned aerial vehicle (UAV) swarms;

[0076] Step 5: Design a collaborative control protocol for the heterogeneous switching system of amphibious unmanned aerial vehicle (UAV) swarms;

[0077] Step 6: Construct the Lyapunov function for the amphibious unmanned aerial vehicle swarm system;

[0078] Step 7: Implement coordinated control of the amphibious unmanned aerial vehicle swarm using the designed coordinated control protocol.

[0079] Next, focusing on the team's self-developed amphibious drone, and taking the coordinated control of multiple amphibious drones as an example, the implementation process of the above-described method will be explained in detail.

[0080] like Figure 2 The image shows the team's self-developed amphibious drone, consisting of 1—quadcopter, 2—catamaran-like main body, 3—internal electronic control system, and 4—twin propellers. The drone's parameters are as follows: weight: Effective load capacity: Main body length: Maximum airspeed: Longest flight time: Ideal longest running time Maximum speed: 3 knots.

[0081] like Figure 3 As shown, the cooperative control algorithm design for the amphibious unmanned aerial vehicle (UAV) swarm in this embodiment can be carried out using the following steps: First, obtain the communication topology diagram of the amphibious UAV swarm, define virtual excitation and preset trajectory to obtain the virtual system of the amphibious UAV swarm system, define state error to obtain the error system of the amphibious UAV swarm system, and on this basis, design a cooperative control protocol for the amphibious UAV swarm system.

[0082] In the above embodiments of the present invention, a method for the coordinated control of an amphibious unmanned aerial vehicle (UAV) swarm is provided, the method comprising the following steps:

[0083] Step 1, in conjunction with heterogeneous switching system theory, constructs a heterogeneous switching system model for an amphibious unmanned aerial vehicle (UAV) swarm, including:

[0084] Step 1-1: First, model the amphibious drone as a quadcopter when it is flying in the air. The specific model is as follows:

[0085] (twenty one)

[0086] in, Indicates the position and status of a quadcopter. These represent the roll angle, pitch angle, and yaw angle, respectively. For the mass of a quadcopter, It is the acceleration due to gravity. These are the moments of inertia of the quadcopter about its three axes; The vector consisting of the lift resultant force, roll resultant force, pitch resultant force, and yaw resultant force of the four motors is the input of the system.

[0087] Step 1-2, let , , , , Model (21) can be represented as follows:

[0088] (twenty two)

[0089] in, , , .

[0090] Steps 1-3: Model the amphibious drone as an unmanned surface vessel when it is navigating on the water. The specific model is as follows:

[0091] (twenty three)

[0092] in, They represent the first The unmanned surface vessel's position relative to the ground and its yaw angle. They represent the first The unmanned surface vessel's yaw rate, vertical yaw rate, and yaw angle rate are as follows: Indicates the first The control input for an unmanned surface vessel Represents the inertia matrix. Represents the centrifugal force matrix. Represents the damping matrix. The system rotation matrix is ​​expressed as follows:

[0093] (twenty four)

[0094] Steps 1-4, let , Model (3) can be represented in the following form:

[0095] (25)

[0096] in, , , .

[0097] Steps 1-5: Using variable-order switching system theory, the mode transitions of amphibious UAVs during surface navigation and aerial flight are expressed, resulting in the following heterogeneous switching system model for an amphibious UAV swarm:

[0098] (26)

[0099] in, Indicates the system switching signal, Indicates the number of subsystems. This is the starting moment. The leader in system (6) is determined by a signal. It means, and It is continuously differentiable and has a constant. Make .

[0100] Furthermore, in step 2, given the communication topology diagram of the heterogeneous switching system for the amphibious unmanned aerial vehicle (UAV) swarm, each UAV is labeled and set up. This indicates that the specific implementation in this application uses a set. This indicates that adjacent amphibious drones are identified, and the first... The neighbor set of an amphibious drone is The communication topology of the amphibious unmanned aerial vehicle (UAV) swarm is designed as an undirected graph, using... It means, and They are interconnected; each amphibious drone can communicate with its neighbors and obtain their status information. Aquatic drone and the first The communication weight of each amphibious drone is ,use Representing the adjacency matrix, specifically, in the embodiments of this application, it is used as... This represents the adjacency matrix. If there is a communication connection between two amphibious unmanned aerial vehicles (UAVs), then... ,otherwise And it does not allow self-looping, that is .

[0101] Furthermore, in step 3, a virtual system is constructed for the heterogeneous switching system of the amphibious unmanned aerial vehicle swarm:

[0102] (27)

[0103] in,

[0104] , Indicates the first The virtual trajectory of an amphibious drone. This indicates the movement trajectory of the leader of the amphibious drones. , , , This represents the Lipschitz constant. and Represent matrices respectively The minimum and maximum eigenvalues.

[0105] In the case that the communication topology of a heterogeneous amphibious unmanned aerial vehicle (UAV) swarm is undirected and connected, when time... At that time, it made , , Indicates the first The offset of an amphibious drone from the center of the formation.

[0106] Furthermore, step 4 defines the trajectory tracking error system of the heterogeneous switching system for the amphibious unmanned aerial vehicle swarm, specifically including:

[0107] Define state errors respectively , Taking the derivative with respect to the error yields the error system:

[0108] (28)

[0109] Furthermore, the cooperative control protocol for the heterogeneous switching system of the amphibious unmanned aerial vehicle swarm designed in step 5 is as follows:

[0110] (29)

[0111] in, .

[0112] Furthermore, in step 6, based on Lyapunov stability theory, the following Lyapunov function is constructed for the error system of the amphibious unmanned aerial vehicle swarm:

[0113] (30)

[0114] Furthermore, in step 7, the designed cooperative control protocol is used to perform cooperative control on the amphibious unmanned aerial vehicle (UAV) swarm. Below, using specific data as an example, the cooperative control protocol designed in the above embodiment is applied to the team's self-developed amphibious UAV swarm to further verify the accuracy of this embodiment. For example... Figure 2 The parameters selected for the amphibious unmanned aerial vehicle (UAV) swarm system shown are as follows: , , This ensures that the formation of the amphibious unmanned aerial vehicle swarm remains a hexagonal formation for coordinated operation.

[0115] Figure 5 This is a switching signal for an amphibious drone swarm. Figures 6 to 12 The results of the coordinated control operation were presented. Analysis of the operational curves shows that the amphibious unmanned aerial vehicle swarm achieved hexagonal formation coordinated control under the designed coordinated control protocol.

[0116] In embodiments of the present invention, such as Figure 9 As shown, another aspect provides a collaborative control system for an amphibious unmanned aerial vehicle (UAV) swarm, the system comprising:

[0117] The model building unit for the heterogeneous switching system of amphibious unmanned aerial vehicle swarm is used to construct the dynamic model of the amphibious unmanned aerial vehicle swarm system by combining switching system theory.

[0118] The amphibious unmanned aerial vehicle (UAV) swarm communication topology design unit is used to design the communication topology of an amphibious unmanned aerial vehicle (UAV) swarm.

[0119] The virtual system construction unit for amphibious unmanned aerial vehicle swarms is used to construct the first... A virtual system is constructed by setting a preset trajectory for each amphibious drone, setting virtual excitation signals, and building a swarm of amphibious drones.

[0120] The amphibious unmanned aerial vehicle (UAV) swarm error system design unit is used to define tracking errors and generate the amphibious unmanned aerial vehicle (UAV) swarm error system.

[0121] The design unit for the cooperative control protocol of amphibious unmanned aerial vehicle (UAV) swarms is used to design the cooperative control protocol for amphibious UAV swarms.

[0122] The system stability analysis unit is used to construct the Lyapunov function of the system and analyze the system's stability.

[0123] In this method, multi-amphibious heterogeneous switching UAV collaborative control is a novel collaborative control strategy with significant cooperative effects. It greatly improves the task allocation and execution efficiency of amphibious UAV swarms and realizes autonomous intelligent control of amphibious UAVs.

[0124] In this application, considering the variable-order switching characteristics of amphibious unmanned aerial vehicle (UAV) swarms during mission completion, it is modeled as a multi-amphibious heterogeneous switching system, laying the foundation for subsequent research.

[0125] This invention combines a pre-designed trajectory interaction collaborative control protocol to achieve collaborative autonomous operation of amphibious unmanned aerial vehicle (UAV) swarms, establishing a protocol framework that is both practically significant and capable of guiding collaborative operation, thus possessing high engineering practical value.

[0126] For details not described in the collaborative control system for an amphibious unmanned aerial vehicle (UAV) swarm provided in the embodiments of this application, please refer to the above-described invention content and the collaborative control method for an amphibious UAV swarm provided in the embodiments, which will not be repeated here.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, any modifications, improvements and equivalent substitutions made without departing from the principle of the present invention are included within the protection scope of the present invention.

Claims

1. A cooperative control method for an amphibious unmanned aerial vehicle (UAV) swarm, characterized in that, The method includes: Step 1: Based on the theory of heterogeneous switching systems, construct a heterogeneous switching system model for amphibious unmanned aerial vehicle (UAV) swarms; Step 2: Provide the communication topology diagram of the heterogeneous switching system for an amphibious unmanned aerial vehicle swarm; Step 3: Construct a virtual system for the heterogeneous switching system of amphibious unmanned aerial vehicle swarms; Step 4: Construct the trajectory tracking error of the heterogeneous switching system for amphibious unmanned aerial vehicle (UAV) swarms; Step 5: Design a collaborative control protocol for the heterogeneous switching system of amphibious unmanned aerial vehicle (UAV) swarms; Step 6: Construct the Lyapunov function for the amphibious unmanned aerial vehicle swarm system; Step 7: Implement coordinated control of the amphibious unmanned aerial vehicle swarm using the designed coordinated control protocol; Based on heterogeneous switching system theory, a heterogeneous switching system model is constructed for amphibious unmanned aerial vehicle (UAV) swarms, including: Step 1-1: Model the amphibious drone as a quadcopter when it is flying in the air. The model is as follows: (1)； in, Indicates the number of quadcopters. Indicates the position and status of a quadcopter. These represent the roll angle, pitch angle, and yaw angle, respectively. For the mass of a quadcopter, It is the acceleration due to gravity. These are the moments of inertia of the quadcopter about its three axes; The vector consisting of the lift resultant force, roll resultant force, pitch resultant force, and yaw resultant force of the four motors represents the input of the system. Step 1-2, let , , , , The model is represented in the following form: (2)； in, , , ; Steps 1-3: Model the amphibious drone as an unmanned surface vessel when it is navigating on the water. The model is as follows: (3)； in, They represent the first The unmanned surface vessel's position relative to the ground and its yaw angle. They represent the first The unmanned surface vessel's yaw rate, vertical yaw rate, and yaw angle rate are as follows: Indicates the first The control input for an unmanned surface vessel Represents the inertia matrix. Represents the centrifugal force matrix. Represents the damping matrix. The system rotation matrix is ​​expressed as: (4)； Steps 1-4, let , The model is represented in the following form: (5)； in, , , ; Steps 1-5: Use variable-order switching system theory to represent the mode transitions of amphibious UAVs during surface navigation and aerial flight, and obtain a heterogeneous switching system model for amphibious UAV swarms: (6)； in, Indicates the system switching signal, Indicates the number of subsystems. The starting time; the leader in system (6) is determined by a signal. It means, and It is continuously differentiable and has a constant. Make .

2. The cooperative control method for an amphibious unmanned aerial vehicle swarm according to claim 1, characterized in that, Given a communication topology diagram of a heterogeneous switching system for an amphibious unmanned aerial vehicle swarm, including: Each amphibious drone was labeled and grouped. This indicates that adjacent amphibious drones are identified, and the first... The neighbor set of an amphibious drone is The communication topology of the amphibious unmanned aerial vehicle (UAV) swarm is defined as an undirected graph, using... It means, and They are interconnected; each amphibious drone can communicate with its neighbors and obtain their status information. Aquatic drone and the first The communication weight of each amphibious drone is ,use Represents the adjacency matrix; If there is a communication connection between the two amphibious drones, then ,otherwise And it does not allow self-looping, that is .

3. The cooperative control method for an amphibious unmanned aerial vehicle swarm according to claim 2, characterized in that, The following virtual system is constructed for a heterogeneous amphibious unmanned aerial vehicle (UAV) swarm system: (7)； in , Indicates the first The virtual trajectory of an amphibious drone. This indicates the movement trajectory of the leader of the amphibious drones. , , , This represents the Lipschitz constant. and Represent matrices respectively The minimum and maximum eigenvalues; In the case that the communication topology of a heterogeneous amphibious unmanned aerial vehicle (UAV) swarm is undirected and connected, when time... At that time, it made , , Indicates the first The offset of an amphibious drone from the center of the formation.

4. The cooperative control method for an amphibious unmanned aerial vehicle swarm according to claim 3, characterized in that, The trajectory tracking error of constructing a heterogeneous switching system for amphibious unmanned aerial vehicle (UAV) swarms includes: Define state errors respectively , Taking the derivative with respect to the error yields the error system: (8)。 5. The cooperative control method for an amphibious unmanned aerial vehicle swarm according to claim 4, characterized in that, The cooperative control protocol for the heterogeneous switching system of amphibious unmanned aerial vehicle (UAV) swarms is as follows: (9)； in, .

6. The cooperative control method for an amphibious unmanned aerial vehicle swarm according to claim 5, characterized in that, The Lyapunov functions for constructing an amphibious unmanned aerial vehicle (UAV) swarm system include: Based on Lyapunov stability theory, the following Lyapunov function is constructed for the error system of an amphibious unmanned aerial vehicle (UAV) swarm: (10)。 7. A collaborative control system for an amphibious unmanned aerial vehicle (UAV) swarm, characterized in that, The system includes: The model building unit for the heterogeneous switching system of amphibious unmanned aerial vehicle swarm is used to construct the dynamic model of the amphibious unmanned aerial vehicle swarm system by combining switching system theory. A communication topology design unit for an amphibious unmanned aerial vehicle (UAV) swarm, used to design a communication topology for a given amphibious UAV swarm; The virtual system construction unit for amphibious unmanned aerial vehicle (UAV) swarms is used to construct a virtual system for the heterogeneous switching system of amphibious UAV swarms. The amphibious unmanned aerial vehicle (UAV) swarm error system design unit is used to define tracking errors and generate the amphibious unmanned aerial vehicle (UAV) swarm error system. The design unit for the cooperative control protocol of amphibious unmanned aerial vehicle (UAV) swarms is used to design the cooperative control protocol for amphibious UAV swarms. The system consistency analysis unit is used to construct the Lyapunov function of the system and perform consistency analysis on the system. The model building unit for the heterogeneous switching system of amphibious unmanned aerial vehicle swarms is specifically used for: Step 1-1: Model the amphibious drone as a quadcopter when it is flying in the air. The model is as follows: (1)； in, Indicates the number of quadcopters. Indicates the position and status of a quadcopter. These represent the roll angle, pitch angle, and yaw angle, respectively. For the mass of a quadcopter, It is the acceleration due to gravity. These are the moments of inertia of the quadcopter about its three axes; The vector consisting of the lift resultant force, roll resultant force, pitch resultant force, and yaw resultant force of the four motors represents the input of the system. Step 1-2, let , , , , The model is represented in the following form: (2)； in, , , ; Steps 1-3: Model the amphibious drone as an unmanned surface vessel when it is navigating on the water. The model is as follows: (3)； in, They represent the first The unmanned surface vessel's position relative to the ground and its yaw angle. They represent the first The unmanned surface vessel's yaw rate, vertical yaw rate, and yaw angle rate are as follows: Indicates the first The control input for an unmanned surface vessel Represents the inertia matrix. Represents the centrifugal force matrix. Represents the damping matrix. The system rotation matrix is ​​expressed as: (4)； Steps 1-4, let , The model is represented in the following form: (5)； in, , , ; Steps 1-5: Use variable-order switching system theory to represent the mode transitions of amphibious UAVs during surface navigation and aerial flight, and obtain a heterogeneous switching system model for amphibious UAV swarms: (6)； in, Indicates the system switching signal, Indicates the number of subsystems. The starting time; the leader in system (6) is determined by a signal. It means, and It is continuously differentiable and has a constant. Make .

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