Attitude consistency dynamic triggering safety control system for multiple six-rotor unmanned aerial vehicles

Abstract

The invention discloses a multi-six-rotor unmanned aerial vehicle attitude consistency dynamic triggering safety control system, and belongs to the technical field of unmanned aerial vehicle control. Comprising a multi-six-rotor attitude model, a delay funnel performance module, a fuzzy system module, an adaptive law module, an intermediate controller module, an event trigger mechanism module, an attitude consistency control module and an FDI attack module. The delay funnel performance module is designed, and the problems of initial feasibility condition limitation and performance self-adjustment are solved through an offset transfer function and a self-adjustment performance function; then processing nonlinearity, external interference and random FDI attacks based on backstepping design and fuzzy adaptive control in combination with a second-order tracking differentiator, and avoiding'calculation explosion '; and finally, designing a dynamic event triggering mechanism to reduce communication and calculation overhead. According to the method provided by the invention, the communication frequency is greatly reduced on the premise of ensuring the attitude tracking precision, and the method is superior to a traditional attitude control method.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) control technology, specifically relating to a dynamic triggering safety control system for attitude consistency of a multi-hexarotor UAV. Background Technology

[0002] Multi-UAV systems are widely used in surveillance, search and rescue, and collaborative transportation. Hexacopter UAVs, with their advantages of redundancy, safety, control decoupling, and load adaptability, are particularly suitable for attitude coordination control tasks in complex environments. However, multi-UAV attitude consistency control faces numerous challenges: UAV dynamics inherently exhibit nonlinearity and actuator saturation characteristics; external interference and cyberattacks can easily degrade system performance; and communication resources are limited, making it difficult for traditional control methods to reduce communication and computational overhead while maintaining attitude tracking accuracy. Existing performance-guaranteed control methods, such as obstacle Lyapunov function techniques and pre-defined performance control frameworks, generally rely on strict initial condition assumptions, resulting in complex performance transformation function calculations and singularities during constraint handling. While event-triggered control can reduce control update frequency, static event-triggered mechanisms struggle to dynamically balance system performance and resource efficiency. Furthermore, when reference signals change drastically, traditional performance functions struggle to automatically adjust boundaries, easily leading to control input chattering or overshoot. Therefore, there is an urgent need to design a low-complexity, singularity-free, adaptively adjustable performance multi-UAV attitude consistency control method that also reduces communication overhead. Summary of the Invention

[0003] Purpose of the invention: This application develops a dynamic triggering safety control system for attitude consistency of a multi-hexarotor UAV, aiming to solve the technical problems of existing technologies that rely on initial condition assumptions and are prone to singularity problems during constraint processing.

[0004] Technical solution: This application provides a dynamic triggering safety control system for attitude consistency of a multi-hexacopter unmanned aerial vehicle, characterized in that it includes:

[0005] A multi-six-rotor attitude model is used to receive the actual control effect and the disturbed control torque of the multi-six-rotor UAV, and output a status signal;

[0006] The delay funnel performance module is used to receive the status signal and the reference signal of the navigation UAV, calculate the synchronization measurement error and perform error conversion, and output the error signal;

[0007] The fuzzy system module is used to receive the state signal and the disturbed control torque, and output the fuzzy approximation result;

[0008] An adaptive law module is used to receive the error signal and the fuzzy approximation result, and output the adjusted fuzzy weight estimate.

[0009] The intermediate controller module is used to receive the fuzzy approximation result, the error signal, and the adjusted fuzzy weight estimate, and output the virtual control input and attack compensation term;

[0010] The event triggering mechanism module is used to receive the virtual control input and the attack compensation item, and combine historical data to generate a discrete control signal containing a dynamic trigger threshold and a trigger time.

[0011] An attitude consistency control module is used to receive the state signal and the discrete control signal, and output control torque;

[0012] The FDI attack module is used to receive the control torque, apply attack interference, and output the interfered control torque.

[0013] In some embodiments, the formula for representing the state signal includes:

[0014] ;

[0015] in, The state signal; For the first The roll attitude angle of a six-rotor UAV; For the first The pitch angle of a six-rotor UAV; For the first Yaw attitude angle of a six-rotor UAV; For the first A hexacopter drone at a roll attitude angle Angular velocity in the direction; For the first A hexacopter drone at pitch angle Angular velocity in the direction; For the first A hexacopter drone at a yaw angle Angular velocity in the direction.

[0016] In some embodiments, the characterization formula for the multi-hexarotor attitude model includes:

[0017] ;

[0018] in, , representing the attitude system state vector. =1, 2, 3, corresponding to roll attitude angle, pitch attitude angle, and yaw attitude angle, respectively. For the first The roll attitude angle of a six-rotor UAV; For the first The pitch angle of a six-rotor UAV; For the first Yaw attitude angle of a six-rotor UAV; For the first A hexacopter drone at a roll attitude angle Angular velocity in the direction; For the first A hexacopter drone at pitch angle Angular velocity in the direction; For the first A hexacopter drone at a yaw angle Angular velocity in the direction; Indicates the first The first of the six-rotor systems The first attitude channel A nonlinear smooth function, =1, 2, are the signals corresponding to the first-order and second-order equations, respectively; For complex disturbances in the flight environment, satisfy , And it is a constant; For time; The constant related to the inertia matrix. =1, 2, 3 For the first A six-rotor aircraft Moment of inertia in the direction of rotation For the first A six-rotor aircraft Moment of inertia in the direction of rotation No. A six-rotor aircraft Moment of inertia in the direction of rotation direction, direction and Directions intersect; The disturbance is the control torque.

[0019] In some embodiments, the characterization formula of the FDI attack module includes:

[0020] ;

[0021] in, The disturbed control torque; For time; The control torque; Let be a random variable that follows a Bernoulli distribution; This is to interfere with the attack.

[0022] In some embodiments, the characterization formula for the delay funnel performance module includes:

[0023] ;

[0024] in, The error signal is... =1, 2, are the signals corresponding to the first-order and second-order equations, respectively; For self-tuning performance functions:

[0025] ;

[0026] in, , , The initial value of the performance function, Time-varying function The limit value, Indicates the performance function parameters; As an intermediate controller; For the first Attitude and angular velocity status of a six-rotor UAV; t is time; t0 is the initial time. The desired attitude angle; Conversion error:

[0027] ;

[0028] in, The time delay constant; Here is a shift conversion function used to implement the delay funnel performance:

[0029] ;

[0030] in, For design constants, n is the system order;

[0031] For attitude system consistency measurement error:

[0032] ;

[0033] in, For the first The number of neighbors of a hexacopter drone; For the first The hexacopter drone for the first Signal reception status of a hexacopter drone Indicates the first The hexacopter drone can receive the first... The signal from a six-rotor drone, Indicates the first The hexacopter drone could not receive the first... The signal from a six-rotor drone; For the first Attitude and angular velocity status of a six-rotor UAV; For the first The attitude angular velocity state of the first hexacopter UAV is used to characterize the first... A neighboring drone of a hexacopter drone The attitude angular velocity state; For the first The information reception status of the six-rotor drone for the navigator Indicates the first The six-rotor drone can receive information from the navigator. Indicates the first The six-rotor drone was unable to receive the navigator's information; The desired attitude angle.

[0034] In some embodiments, the characterization formula of the fuzzy system module includes:

[0035] ;

[0036] ;

[0037] in, The fuzzy approximation result; For an unknown nonlinear composite function of the system; The state signal; For fuzzy basis function vectors; For ideal parameter vectors; To approximate the error vector; This is the adjusted fuzzy weight estimate.

[0038] In some embodiments, the characterization formula of the adaptive law module includes:

[0039] ;

[0040] ;

[0041] in, The adjusted fuzzy weight estimates. =1, 2, are the signals corresponding to the first-order and second-order equations, respectively; The error signal; For fuzzy basis function vectors; The state signal; and The relevant parameters for the fuzzy weight update law; This is a shift conversion function used to implement the delay funnel performance; For quantities related to the performance function, and have , For self-adjusting performance functions, This refers to the measurement error for attitude system consistency.

[0042] In some embodiments, the characterization formula of the intermediate controller module includes:

[0043] ;

[0044] in, As an intermediate controller; and For design parameters; For positive integers, , As an auxiliary variable, As the upper bound of the auxiliary variable, For design parameters, , For time, The control torque, For event measurement error, , As an intermediate controller, It is a positive design parameter; The error signal; Input for the virtual control:

[0045] ;

[0046] in, For design parameters, ; The constant related to the inertia matrix. =1, 2, 3, corresponding to roll attitude angle, pitch attitude angle, and yaw attitude angle, respectively. For the first A six-rotor aircraft Moment of inertia in the direction of rotation For the first A six-rotor aircraft Moment of inertia in the direction of rotation For the first A six-rotor aircraft Moment of inertia in the direction of rotation direction, direction and Directional intersection settings; For filter output; This is the transpose of the adjusted fuzzy weight estimates; For fuzzy basis function vectors; This refers to the state signal.

[0047] In some embodiments, the formula representing the triggering condition of the event triggering mechanism module includes:

[0048] ;

[0049] in, For the first The first hexacopter drone The first attitude channel +1 trigger time; No. The first hexacopter drone The first attitude channel Each trigger moment is used to characterize a historical trigger moment; The infimum operator; For time; For design parameters, ; These are design parameters. For event measurement error, , As an intermediate controller, The control torque; It is an auxiliary variable.

[0050] In some embodiments, the characterization formula of the attitude consistency control module includes:

[0051] ;

[0052] in, The control torque; For time; As an intermediate controller; For the first The first hexacopter drone The first attitude channel One trigger moment; No. The first hexacopter drone The first attitude channel +1 trigger time.

[0053] Beneficial Effects: Compared with the prior art, the embodiments of this application provide a dynamic triggering safety control system for attitude consistency of a multi-six-rotor UAV, including a multi-six-rotor attitude model, a delay funnel performance module, a fuzzy system module, an adaptive law module, an intermediate controller module, an event triggering mechanism module, an attitude consistency control module, and an FDI attack module; the multi-six-rotor attitude model is the core input source, outputting state signals such as UAV attitude angle and angular velocity, which are respectively sent to the fuzzy system module, the delay funnel performance module, and the attitude consistency control module; the fuzzy system module adopts a dual-input design—receiving the state signals of the multi-six-rotor attitude model and the interference control torque after the FDI attack, approximating the unknown nonlinear function and attack term of the system, and outputting the fuzzy approximation result to the adaptive law module and the intermediate controller module; the delay funnel performance module receives the state signals of the multi-six-rotor attitude model and the reference attitude signal of the lead UAV, calculates the synchronization measurement error and performs error conversion, and outputs the error signal to the intermediate controller module; the adaptive law module... Based on the output of the fuzzy system module and the error signal of the intermediate controller module, the fuzzy weight estimate is dynamically adjusted and fed back to the fuzzy system module and the intermediate controller module. The intermediate controller module integrates the error signal of the delay funnel performance module, the fuzzy approximation result of the fuzzy system module, and the dynamically adjusted fuzzy weight estimate from the adaptive law module, designs virtual control input and attack compensation terms, and outputs them to the event triggering mechanism module. The event triggering mechanism module generates a dynamic trigger threshold and trigger time based on the output signal of the intermediate controller module and historical data, and outputs discrete control signals to the attitude consistency control module. The attitude consistency control module receives the discrete control signals from the event triggering mechanism module, combines them with the state signals, and outputs the final control torque to the FDI attack module. The FDI attack module connects between the attitude consistency control module and the actuator of the multi-six-rotor attitude model, applies attack interference to the control torque, outputs the interfered control torque to the actuator of the multi-six-rotor attitude model, and simultaneously feeds back the attacked signal to the fuzzy system module. This application proposes a delay funnel performance module, which eliminates the initial feasibility condition restrictions through an error conversion mechanism, solves the singularity problem in delay constraint processing, and ensures that the system meets performance constraints after a preset delay time. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a schematic diagram of the structure of the dynamic triggering safety control system for attitude consistency of a multi-hexarotor UAV provided in an embodiment of this application;

[0056] Figure 2 A module connection diagram for the attitude consistency dynamic triggering safety control system of a multi-hexarotor UAV provided in this application embodiment;

[0057] Figure 3 The attitude tracking trajectory diagram of the multi-hexacopter UAV corresponding to the attitude consistency dynamic triggering safety control system provided in the embodiments of this application;

[0058] Figure 4 This is a trajectory diagram showing the attitude tracking performance of a multi-hexacopter UAV corresponding to the dynamic triggering safety control system for attitude consistency provided in this application embodiment.

[0059] Figure 5 This is a diagram showing the triggering times of the attitude controller of the multi-hexacopter UAV corresponding to the dynamic triggering safety control system for attitude consistency provided in this application embodiment;

[0060] Figure 6 This is a diagram showing the attitude control trajectory of a multi-hexacopter UAV corresponding to the dynamic triggering safety control system for attitude consistency provided in this application embodiment.

[0061] Figure reference numerals: 10, Multi-six-rotor attitude model; 20, Delay funnel performance module; 30, Fuzzy system module; 40, Adaptive law module; 50, Intermediate controller module; 60, Event triggering mechanism module; 70, Attitude consistency control module; 80, FDI attack module. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0063] Multi-UAV systems are widely used in surveillance, search and rescue, and collaborative transportation. Hexacopter UAVs, with their advantages of redundancy, safety, control decoupling, and load adaptability, are particularly suitable for attitude coordination control tasks in complex environments. However, multi-UAV attitude consistency control faces numerous challenges: UAV dynamics inherently exhibit nonlinearity and actuator saturation characteristics; external interference and cyberattacks can easily degrade system performance; and communication resources are limited, making it difficult for traditional control methods to reduce communication and computational overhead while maintaining attitude tracking accuracy. Existing performance-guaranteed control methods, such as obstacle Lyapunov function techniques and pre-defined performance control frameworks, generally rely on strict initial condition assumptions, resulting in complex performance transformation function calculations and singularities during constraint handling. While event-triggered control can reduce control update frequency, static event-triggered mechanisms struggle to dynamically balance system performance and resource efficiency. Furthermore, when reference signals change drastically, traditional performance functions struggle to automatically adjust boundaries, easily leading to control input chattering or overshoot. Therefore, there is an urgent need to design a low-complexity, singularity-free, adaptively adjustable performance multi-UAV attitude consistency control method that also reduces communication overhead.

[0064] In view of this, embodiments of this application provide a dynamic triggering safety control system for attitude consistency of a multi-six-rotor UAV, including a multi-six-rotor attitude model 10, a delay funnel performance module 20, a fuzzy system module 30, an adaptive law module 40, an intermediate controller module 50, an event triggering mechanism module 60, an attitude consistency control module 70, and an FDI attack module 80. The multi-six-rotor attitude model 10 is the core input source, outputting state signals such as UAV attitude angle and angular velocity, which are respectively sent to the fuzzy system module 30, the delay funnel performance module 20, and the attitude consistency control module 70. The fuzzy system module 30 is designed with dual inputs—receiving the state signals of the multi-six-rotor attitude model 10 and the interference control torque after the FDI attack, approximating the unknown nonlinear function and attack term of the system, and outputting the fuzzy approximation result to the adaptive law module 40 and the intermediate controller module 50. The delay funnel performance module 20 receives the state signals of the multi-six-rotor attitude model 10 and the reference attitude signal of the navigating UAV, calculates the synchronization measurement error and performs error conversion, and outputs the error signal to the intermediate controller module 50. The adaptive law module 40, according to the fuzzy system... The output of the fuzzy system module 30 and the error signal of the intermediate controller module 50 are used to dynamically adjust the fuzzy weight estimate, which is then fed back to the fuzzy system module 30 and the intermediate controller module 50. The intermediate controller module 50 integrates the error signal of the delay funnel performance module 20, the fuzzy approximation result of the fuzzy system module 30, and the dynamically adjusted fuzzy weight estimate from the adaptive law module 40. It designs virtual control inputs and attack compensation terms and outputs them to the event triggering mechanism module 60. Based on the output signal and historical data of the intermediate controller module 50, the event triggering mechanism module 60 generates a dynamic trigger threshold and trigger time, and outputs discrete control signals to the attitude consistency control module 70. The attitude consistency control module 70 receives the discrete control signals from the event triggering mechanism module 60, combines them with the state signals, and outputs the final control torque to the FDI attack module 80. The FDI attack module 80 connects between the attitude consistency control module 70 and the actuator of the multi-six-rotor attitude model 10, applies attack interference to the control torque, outputs the interfered control torque to the actuator of the multi-six-rotor attitude model 10, and simultaneously feeds back the attacked signal to the fuzzy system module 30. This application proposes a delay funnel performance module 20, which eliminates the initial feasibility condition restrictions through an error conversion mechanism, solves the singularity problem in delay constraint processing, and ensures that the system meets the performance constraints after a preset delay time.

[0065] In some embodiments, please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of the dynamic triggering safety control system for attitude consistency of a multi-hexarotor UAV provided in an embodiment of this application. Figure 2This is a module connection diagram of the dynamic triggering safety control system for attitude consistency of a multi-six-rotor UAV provided in this application embodiment. The dynamic triggering safety control system for attitude consistency of a multi-six-rotor UAV provided in this application embodiment includes a multi-six-rotor attitude model 10, a delay funnel performance module 20, a fuzzy system module 30, an adaptive law module 40, an intermediate controller module 50, an event triggering mechanism module 60, an attitude consistency control module 70, and an FDI attack module 80. The system comprises the following modules: a multi-six-rotor attitude model 10, which receives the actual control effect and disturbed control torque of the multi-six-rotor UAV and outputs a state signal; a delay funnel performance module 20, which receives the state signal and the reference signal of the navigating UAV, calculates the synchronization measurement error and performs error conversion, and outputs an error signal; a fuzzy system module 30, which receives the state signal and disturbed control torque and outputs a fuzzy approximation result; an adaptive law module 40, which receives the error signal and fuzzy approximation result and outputs an adjusted fuzzy weight estimate; an intermediate controller module 50, which receives the fuzzy approximation result, the error signal, and the adjusted fuzzy weight estimate, and outputs a virtual control input and an attack compensation term; an event triggering mechanism module 60, which receives the virtual control input and the attack compensation term, and generates a discrete control signal containing a dynamic trigger threshold and a trigger time by combining historical data; an attitude consistency control module 70, which receives the state signal and the discrete control signal and outputs a control torque; and an FDI attack module 80, which receives the control torque, applies attack interference, and outputs the disturbed control torque.

[0066] In some embodiments, the formula for representing the state signal includes:

[0067] ;

[0068] in, This is a status signal; For the first The roll attitude angle of a six-rotor UAV; For the first The pitch angle of a six-rotor UAV; For the first Yaw attitude angle of a six-rotor UAV; For the first A hexacopter drone at a roll attitude angle Angular velocity in the direction; For the first A hexacopter drone at pitch angle Angular velocity in the direction; For the first A hexacopter drone at a yaw angle Angular velocity in the direction.

[0069] In some embodiments, a nonlinear multi-hexagonal attitude model is constructed:

[0070] ;

[0071] in, For the first A six-rotor attitude angle, Representing the A six-rotor aircraft Moments of inertia in three directions; This represents the angular velocity in the corresponding attitude direction. For the transformation matrix, and These represent the total input torque and the gyro torque, respectively.

[0072] Furthermore, considering the threats of external interference and cyberattacks in the flight environment of a hexarotor UAV, the following general model is established:

[0073] ;

[0074] in, , representing the attitude system state vector. =1, 2, 3, corresponding to roll attitude angle, pitch attitude angle, and yaw attitude angle, respectively. For the first The roll attitude angle of a six-rotor UAV; For the first The pitch angle of a six-rotor UAV; For the first Yaw attitude angle of a six-rotor UAV; For the first A hexacopter drone at a roll attitude angle Angular velocity in the direction; For the first A hexacopter drone at pitch angle Angular velocity in the direction; For the first A hexacopter drone at a yaw angle Angular velocity in the direction; Indicates the first The first of the six-rotor systems The first attitude channel A nonlinear smooth function, =1, 2, are the signals corresponding to the first-order and second-order equations, respectively; For complex disturbances in the flight environment, satisfy , And it is a constant; For time; The constant related to the inertia matrix. =1, 2, 3 For the first A six-rotor aircraft Moment of inertia in the direction of rotation For the first A six-rotor aircraft Moment of inertia in the direction of rotation No. A six-rotor aircraft Moment of inertia in the direction of rotation direction, direction and Directions intersect; The disturbed control torque represents the false control input after an FDI attack.

[0075] In some embodiments, the characterization formula of the FDI attack module 80 includes:

[0076] ;

[0077] in, The control torque is affected by the disturbance; For time; To control the torque; Let be a random variable that follows a Bernoulli distribution, and let the probability of an attack occurring be denoted as . , Then its mathematical expectation is ; To facilitate controller design and to prevent interference, the following reasonable assumptions are made: there exists an unknown bounded smooth function. , making .

[0078] In some embodiments, the delay funnel performance module 20 utilizes the consistency error defined by information such as the attitude angles and attitude angular velocities of the lead, follow, and neighboring UAVs in the multi-hexarotor attitude system, and combines this error with the designed delay funnel performance function to complete the error transformation. The transformed error signal is input to the intermediate control module for subsequent processing. The characterization formula of the delay funnel performance module 20 includes:

[0079] ;

[0080] in, For error signals, =1, 2, are the signals corresponding to the first-order and second-order equations, respectively; For self-tuning performance functions:

[0081] ;

[0082] in, , , The initial value of the performance function, Time-varying function The limit value, Indicates the performance function parameters; As an intermediate controller; For the first Attitude and angular velocity status of a six-rotor UAV; t is time; t0 is the initial time. The desired attitude angle; Conversion error:

[0083] ;

[0084] in, The time delay constant; Here is a shift conversion function used to implement the delay funnel performance:

[0085] ;

[0086] in, For design constants, n is the system order;

[0087] For attitude system consistency measurement error:

[0088] ;

[0089] in, Let be the number of neighbors of the j-th hexacopter UAV; For the first The hexacopter drone for the first Signal reception status of a hexacopter drone Indicates the first The hexacopter drone can receive the first... The signal from a six-rotor drone, Indicates the first The hexacopter drone could not receive the first... The signal from a six-rotor drone; For the first Attitude and angular velocity status of a six-rotor UAV; Let be the attitude angular velocity state of the j-th hexacopter UAV, used to characterize the angular velocity state of the j-th UAV. The attitude and angular velocity state of a neighboring drone j of a hexacopter drone; For the first The information reception status of the six-rotor drone for the navigator Indicates the first A six-rotor drone can receive information from the navigator. Indicates the first The six-rotor drone was unable to receive the navigator's information; The desired attitude angle.

[0090] Understandably, this application proposes a non-singular delay funnel control framework. Through offset transformation functions and error transformation mechanisms, it eliminates the initial feasibility condition restrictions, solves the singularity problem in delay constraint processing, and ensures that the system meets performance constraints after a preset delay time. The self-adjusting performance function can dynamically adjust the transient and steady-state performance boundaries according to the rate of change of the reference signal, effectively suppressing overshoot problems caused by high-frequency changes in the reference signal or input chattering.

[0091] In some embodiments, the fuzzy system module 30 utilizes information such as angular velocity and angular acceleration from the multi-six-rotor attitude system, employing adaptive parameters and fuzzy basis functions to identify and process unknown nonlinear dynamics, and then sends the information to the adaptive law module 40 for further processing. Specifically, the fuzzy logic system module is used to process the nonlinear dynamics in the attitude system. The characterization formulas for the fuzzy system module 30, including the composite smooth function, are as follows:

[0092] ;

[0093] ;

[0094] in, To approximate the result in a fuzzy manner; For an unknown nonlinear composite function of the system; This is a status signal; For fuzzy basis function vectors; For ideal parameter vectors; To approximate the error vector; This is the adjusted fuzzy weight estimate.

[0095] Understandably, this application combines the FDI attack module 80 and the fuzzy system module 30 to effectively handle the nonlinearity, external interference and FDI attack problems in the dynamics of a six-rotor UAV. All signals in the closed-loop system are semi-globally consistent and eventually bounded. The tracking error never violates the delay performance constraint and eventually converges to a small neighborhood of zero.

[0096] In some embodiments, the adaptive law module 40 generates a parameter adaptive law using the state information of the multi-six-rotor attitude system, the information of the fuzzy system module 30, and the performance funnel conversion signal, and the output signal is: Its function is to reflect the dynamic changes of adaptive parameters in the controller, and these parameters are input to the intermediate controller module 50. Specifically, the characterization formula of the adaptive law module 40 includes:

[0097] ;

[0098] ;

[0099] in, The adjusted fuzzy weight estimates. =1, 2, are the signals corresponding to the first-order and second-order equations, respectively; This is an error signal; For fuzzy basis function vectors; This is a status signal; and The relevant parameters for the fuzzy weight update law; This is a shift conversion function used to implement the delay funnel performance; For quantities related to the performance function, and have , For self-adjusting performance functions, This refers to the measurement error for attitude system consistency.

[0100] In some embodiments, the inputs to the intermediate controller module 50 are the state information of the multi-hexarotor attitude model 10, the output of the delay funnel module, and the output of the adaptive law module 40. The designed intermediate controller serves as input to the event-triggered mechanism module 60 to generate the final dynamically triggered consistent security controller. Specifically, the characterization formula of the intermediate controller module 50 includes:

[0101] ;

[0102] in, As an intermediate controller; and For design parameters; For positive integers, , As an auxiliary variable, As the upper bound of the auxiliary variable, For design parameters, , For time, To control the torque, For event measurement error, , As an intermediate controller, It is a positive design parameter; This is an error signal; For virtual control input:

[0103] ;

[0104] in, For design parameters, ; The constant related to the inertia matrix. =1, 2, 3, corresponding to roll attitude angle, pitch attitude angle, and yaw attitude angle, respectively. For the first A six-rotor aircraft Moment of inertia in the direction of rotation For the first A six-rotor aircraft Moment of inertia in the direction of rotation For the first A six-rotor aircraft Moment of inertia in the direction of rotation direction, direction and Directional intersection settings; For filter output; This is the transpose of the adjusted fuzzy weight estimates; For fuzzy basis function vectors; This is a status signal.

[0105] In some embodiments, the event triggering mechanism module 60 uses an intermediate controller This serves as input, generating the final dynamically triggered consistent security controller. The triggering conditions for the event-triggered mechanism are:

[0106] ;

[0107] in, For the first The first hexacopter drone The first attitude channel +1 trigger time; No. The first hexacopter drone The first attitude channel Each trigger moment is used to characterize a historical trigger moment; The infimum operator; For time; For design parameters, ; These are design parameters. For event measurement error, , As an intermediate controller, To control the torque; It is an auxiliary variable.

[0108] Understandably, the event triggering mechanism module 60 uses dynamic data to adaptively adjust the triggering threshold, which significantly reduces the control update frequency and communication overhead while ensuring system stability and tracking accuracy. Compared with traditional non-event triggering control, the communication frequency is reduced by about 90%, and compared with static event triggering control, it is reduced by about 20%.

[0109] In some embodiments, the attitude consistency control module 70 takes the outputs of the event triggering mechanism module 60 and the intermediate controller module 50 as inputs to generate the final attitude consistency safety controller. The representation formula of the attitude consistency control module 70 includes:

[0110] ;

[0111] in, To control the torque; For time; As an intermediate controller; For the first The first hexacopter drone The first attitude channel A trigger moment, ; No. The first hexacopter drone The first attitude channel +1 trigger time.

[0112] Understandably, the multi-six-rotor UAV attitude consistency dynamic triggering safety control system provided in the embodiments of this application includes a multi-six-rotor attitude model 10, a delay funnel performance module 20, a fuzzy system module 30, an adaptive law module 40, an intermediate controller module 50, an event triggering mechanism module 60, an attitude consistency control module 70, and an FDI attack module 80. The multi-six-rotor attitude model 10 is the core input source, outputting state signals such as UAV attitude angle and angular velocity, which are respectively sent to the fuzzy system module 30, the delay funnel performance module 20, and the attitude consistency control module 70. The fuzzy system module 30 is designed with dual inputs—receiving the state signals of the multi-six-rotor attitude model 10 and the interference control torque after the FDI attack, approximating the unknown nonlinear function and attack term of the system, and outputting the fuzzy approximation result to the adaptive law module 40 and the intermediate controller module 50. The delay funnel performance module 20 receives the state signals of the multi-six-rotor attitude model 10 and the reference attitude signal of the navigating UAV, calculates the synchronization measurement error and performs error conversion, and outputs the error signal to the intermediate controller module 50. The adaptive law module 40, according to the fuzzy system... The output of the fuzzy system module 30 and the error signal of the intermediate controller module 50 are used to dynamically adjust the fuzzy weight estimate, which is then fed back to the fuzzy system module 30 and the intermediate controller module 50. The intermediate controller module 50 integrates the error signal of the delay funnel performance module 20, the fuzzy approximation result of the fuzzy system module 30, and the dynamically adjusted fuzzy weight estimate from the adaptive law module 40. It designs virtual control inputs and attack compensation terms and outputs them to the event triggering mechanism module 60. Based on the output signal and historical data of the intermediate controller module 50, the event triggering mechanism module 60 generates a dynamic trigger threshold and trigger time, and outputs discrete control signals to the attitude consistency control module 70. The attitude consistency control module 70 receives the discrete control signals from the event triggering mechanism module 60, combines them with the state signals, and outputs the final control torque to the FDI attack module 80. The FDI attack module 80 connects between the attitude consistency control module 70 and the actuator of the multi-six-rotor attitude model 10, applies attack interference to the control torque, outputs the interfered control torque to the actuator of the multi-six-rotor attitude model 10, and simultaneously feeds back the attacked signal to the fuzzy system module 30. This application proposes a delay funnel performance module 20, which eliminates the initial feasibility condition restrictions through an error conversion mechanism, solves the singularity problem in delay constraint processing, and ensures that the system meets the performance constraints after a preset delay time.

[0113] For example, please refer to Figures 3 to 6 , Figure 3 The attitude tracking trajectory diagram of the multi-hexacopter UAV corresponding to the dynamic triggering safety control system for attitude consistency of the multi-hexacopter UAV provided in the embodiments of this application is from... Figure 3As can be seen from the above, the attitude tracking performance of the multi-hexacopter UAV using the attitude consistency dynamic triggering safety control system provided in the embodiments of this application is good. Figure 4 This is a performance trajectory diagram of the attitude tracking of a multi-six-rotor UAV corresponding to the attitude consistency dynamic triggering safety control system provided in this application embodiment, showing the attitude tracking error. and performance boundaries The curve is Figure 4 Give, from Figure 4 As can be seen, the attitude angle error between each drone and the leader always satisfies the delay performance constraint. Figure 5 The attitude controller triggering time diagram of the multi-hexagonal UAV corresponding to the attitude consistency dynamic triggering safety control system provided in the embodiments of this application shows that there is no Zeno behavior, which ensures the practical engineering usability of the control method, and the control algorithm has low computational complexity and is easy to implement in hardware. Figure 6 The attitude control trajectory diagram of the multi-hexacopter UAV corresponding to the dynamic triggering safety control system for attitude consistency of the multi-hexacopter UAV provided in the embodiments of this application is given by... Figure 6 The control curves show that the attitude control signal of the multi-six-rotor UAV is bounded, indicating that the technical method proposed in this invention is effective.

[0114] This application has provided a detailed description of a dynamic triggering safety control system for attitude consistency of a multi-hexarotor UAV, as provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A dynamic triggering safety control system for attitude consistency of a multi-hexacopter unmanned aerial vehicle (UAV), characterized in that, include: The multi-six-rotor attitude model (10) is used to receive the actual control effect and the disturbed control torque of the multi-six-rotor UAV, and output the status signal; The delay funnel performance module (20) is used to receive the status signal and the reference signal of the pilot UAV, calculate the synchronization measurement error and perform error conversion, and output the error signal; The fuzzy system module (30) is used to receive the state signal and the disturbed control torque, and output the fuzzy approximation result; An adaptive law module (40) is used to receive the error signal and the fuzzy approximation result, and output the adjusted fuzzy weight estimate. The intermediate controller module (50) is used to receive the fuzzy approximation result, the error signal and the adjusted fuzzy weight estimate, and output the virtual control input and attack compensation term; The event triggering mechanism module (60) is used to receive the virtual control input and the attack compensation item, and generate a discrete control signal containing a dynamic triggering threshold and a triggering time by combining historical data; The attitude consistency control module (70) is used to receive the state signal and the discrete control signal, and output the control torque; The FDI attack module (80) is used to receive the control torque and apply attack interference, and output the interfered control torque.

2. The dynamic triggering safety control system for attitude consistency of a multi-hexacopter UAV according to claim 1, characterized in that, The formula for representing the state signal includes: ； in, The state signal; For the first The roll attitude angle of a six-rotor UAV; For the first The pitch angle of a six-rotor UAV; For the first Yaw attitude angle of a six-rotor UAV; For the first A hexacopter drone at a roll attitude angle Angular velocity in the direction; For the first A hexacopter drone at pitch angle Angular velocity in the direction; For the first A hexacopter drone at a yaw angle Angular velocity in the direction.

3. The dynamic triggering safety control system for attitude consistency of a multi-hexacopter UAV according to claim 1, characterized in that, The characterization formula of the multi-six-rotor attitude model (10) includes: ； in, , representing the attitude system state vector. =1, 2, 3, corresponding to roll attitude angle, pitch attitude angle, and yaw attitude angle, respectively. For the first The roll attitude angle of a six-rotor UAV; For the first The pitch angle of a six-rotor UAV; For the first Yaw attitude angle of a six-rotor UAV; For the first A hexacopter drone at a roll attitude angle Angular velocity in the direction; For the first A hexacopter drone at pitch angle Angular velocity in the direction; For the first A hexacopter drone at a yaw angle Angular velocity in the direction; Indicates the first The first of the six-rotor systems The first attitude channel A nonlinear smooth function, =1, 2, are the signals corresponding to the first-order and second-order equations, respectively; For complex disturbances in the flight environment, satisfy , And it is a constant; For time; The constant related to the inertia matrix. =1, 2, 3 For the first A six-rotor aircraft Moment of inertia in the direction of rotation For the first A six-rotor aircraft Moment of inertia in the direction of rotation No. A six-rotor aircraft Moment of inertia in the direction of rotation direction, direction and Directions intersect; The disturbance is the control torque.

4. The dynamic triggering safety control system for attitude consistency of a multi-hexacopter UAV according to claim 1, characterized in that, The characterization formula of the FDI attack module (80) includes: ； in, The disturbed control torque; For time; The control torque; Let be a random variable that follows a Bernoulli distribution; This is to interfere with the attack.

5. The dynamic triggering safety control system for attitude consistency of a multi-hexacopter UAV according to claim 1, characterized in that, The characterization formulas for the delay funnel performance module (20) include: ； in, The error signal is... =1, 2, are the signals corresponding to the first-order and second-order equations, respectively; For self-tuning performance functions: ； in, , , The initial value of the performance function, Time-varying function The limit value, Indicates the performance function parameters; As an intermediate controller; For the first Attitude and angular velocity status of a six-rotor UAV; t is time; t0 is the initial time. The desired attitude angle; Conversion error: ； in, The time delay constant; Here is a shift conversion function used to implement the delay funnel performance: ； in, For design constants, n is the system order; For attitude system consistency measurement error: ； in, For the first The number of neighbors of a hexacopter drone; For the first The hexacopter drone for the first Signal reception status of a hexacopter drone Indicates the first The hexacopter drone can receive the first... The signal from a six-rotor drone, Indicates the first The hexacopter drone could not receive the first... The signal from a six-rotor drone; For the first Attitude and angular velocity status of a six-rotor UAV; For the first The attitude angular velocity state of the first hexacopter UAV is used to characterize the first... A neighboring drone of a hexacopter drone The attitude angular velocity state; For the first The information reception status of the six-rotor drone for the navigator Indicates the first The six-rotor drone can receive information from the navigator. Indicates the first The six-rotor drone was unable to receive the navigator's information; The desired attitude angle.

6. The dynamic triggering safety control system for attitude consistency of a multi-hexacopter UAV according to claim 1, characterized in that, The characterization formula of the fuzzy system module (30) includes: ； ； in, The fuzzy approximation result; For an unknown nonlinear composite function of the system; The state signal; For fuzzy basis function vectors; For ideal parameter vectors; To approximate the error vector; This is the adjusted fuzzy weight estimate.

7. The dynamic triggering safety control system for attitude consistency of a multi-hexacopter UAV according to claim 1, characterized in that, The characterization formula of the adaptive law module (40) includes: ； ； in, The adjusted fuzzy weight estimates. =1 and 2 are signals corresponding to the first-order and second-order equations, respectively; The error signal; For fuzzy basis function vectors; The state signal; and The relevant parameters for the fuzzy weight update law; This is a shift conversion function used to implement the delay funnel performance; For quantities related to the performance function, and have , For self-adjusting performance functions, This refers to the measurement error for attitude system consistency.

8. The dynamic triggering safety control system for attitude consistency of a multi-hexacopter UAV according to claim 1, characterized in that, The characterization formula of the intermediate controller module (50) includes: ； in, As an intermediate controller; and For design parameters; For positive integers, , As an auxiliary variable, As the upper bound of the auxiliary variable, For design parameters, , For time, The control torque, For event measurement error, , As an intermediate controller, It is a positive design parameter; The error signal; Input for the virtual control: ； in, For design parameters, ; The constant related to the inertia matrix. =1, 2, 3, corresponding to roll attitude angle, pitch attitude angle, and yaw attitude angle, respectively. For the first A six-rotor aircraft Moment of inertia in the direction of rotation For the first A six-rotor aircraft Moment of inertia in the direction of rotation For the first A six-rotor aircraft Moment of inertia in the direction of rotation direction, direction and Directional intersection settings; For filter output; This is the transpose of the adjusted fuzzy weight estimates; For fuzzy basis function vectors; This refers to the state signal.

9. The dynamic triggering safety control system for attitude consistency of a multi-hexacopter UAV according to claim 1, characterized in that, The formula representing the triggering conditions of the event triggering mechanism module (60) includes: ； in, For the first The first hexacopter drone The first attitude channel +1 trigger time; No. The first hexacopter drone The first attitude channel Each trigger moment is used to characterize a historical trigger moment; The infimum operator; For time; For design parameters, ; These are design parameters. For event measurement error, , As an intermediate controller, The control torque; It is an auxiliary variable.

10. The dynamic triggering safety control system for attitude consistency of a multi-hexacopter UAV according to claim 1, characterized in that, The characterization formula of the attitude consistency control module (70) includes: ； in, The control torque; For time; As an intermediate controller; For the first The first hexacopter drone The first attitude channel One trigger moment; No. The first hexacopter drone The first attitude channel +1 trigger time.

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