一种拜占庭攻击下多四旋翼飞行器编队控制方法
By constructing an optimal position and attitude controller in a multi-quadrotor system, and combining neural networks and potential energy functions, the formation control problem under Byzantine attack was solved, achieving collision avoidance, obstacle avoidance, and formation maintenance, optimizing energy consumption, and improving the aircraft's endurance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NANJING UNIV OF POSTS & TELECOMM
- Filing Date
- 2023-10-10
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies cannot effectively handle the formation control of multi-quadrotor aircraft systems under Byzantine attacks, and have failed to optimize the formation control effect and control input size, and have not considered energy conservation, resulting in insufficient aircraft endurance.
A multi-quadrotor formation control method under Byzantine attack is designed. The optimal position and attitude controller is constructed by using topology graph update and neural network. The safety information is filtered out by combining potential energy function and FP-MSR algorithm to achieve collision avoidance, obstacle avoidance and formation maintenance, while optimizing control input to save energy.
While ensuring formation control effectiveness, it reduces control input, improves aircraft endurance, and effectively avoids obstacles, thus achieving safe formation control.
Smart Images
Figure CN117148866B_ABST