Consistency control method and device for unmanned aerial vehicle cluster system

By employing a dual mechanism of non-zero state constraints and topological memory constraints, the communication of the UAV swarm system is optimized, solving the problems of frequent communication and privacy leakage, and achieving efficient and secure UAV swarm consistency control.

CN121995941BActive Publication Date: 2026-06-09HANGZHOU DIANZI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HANGZHOU DIANZI UNIV
Filing Date
2026-04-07
Publication Date
2026-06-09

AI Technical Summary

Technical Problem

Unmanned aerial vehicle (UAV) swarm systems suffer from problems such as increased communication burden and energy consumption due to frequent communication, privacy risks, and low communication efficiency. Existing event-triggered control methods are inadequate in terms of state validity identification, neighbor selection, and global information dependency.

Method used

Employing a dual mechanism of non-zero state constraints and topological memory constraints, sub-state values ​​and auxiliary variables are generated locally by the UAV. Information exchange only occurs when the non-zero state and topological memory conditions are met. Combined with path queue optimization of neighbor selection, fully distributed control is achieved.

Benefits of technology

It significantly reduces communication redundancy, improves bandwidth utilization, enhances privacy protection capabilities, is suitable for resource-constrained scenarios, and improves system reliability and security.

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Abstract

The application provides a consistency control method and device of a UAV cluster system. Each UAV in the system collects initial state values of at least one state variable of a target object and decomposes the initial state values into a plurality of sub-state values, and maintains total state variables, total quantity variables and auxiliary variables. The method comprises: each UAV judging whether it meets a message sending condition based on a preset state non-zero constraint and a topology memory constraint; when the message sending condition is met, generating a consistency update message carrying part of the non-zero sub-state values and the auxiliary variable values, sending the consistency update message to its out-neighbors, and setting the part of the non-zero sub-state values and the auxiliary variable values in the UAV to zero; and when the UAV receives the consistency update message, judging a consensus based on the updated variable values based on the new local variable values in the consistency update message. The technical solution can improve the communication efficiency, safety and operation reliability of the consistency control process.
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