A method and system for cooperative planning and fault-tolerant control of manned-unmanned team under communication constraints

By combining a hierarchical collaborative system and cross-layer optimization methods with fuzzy wavelet neural networks and self-triggered communication, the collaborative control problem of UAV swarms under communication constraints was solved, achieving efficient and robust formation control and obstacle avoidance capabilities, and adapting to mission execution in complex environments.

CN122387166APending Publication Date: 2026-07-14NORTHWESTERN POLYTECHNICAL UNIV
View PDF 0 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NORTHWESTERN POLYTECHNICAL UNIV
Filing Date
2026-04-09
Publication Date
2026-07-14

AI Technical Summary

Technical Problem

Existing technologies struggle to achieve efficient collaborative control of large-scale UAV swarms under communication-constrained conditions. They suffer from heavy computational and communication burdens, formation stability affected by actuator failures and external disturbances, link congestion and excessive energy consumption due to limited communication bandwidth, and suboptimal performance due to independent tuning of upper-layer planning parameters and lower-layer control parameters.

Method used

A hierarchical collaborative system is used to construct the initial state space. Cross-layer optimization is performed through a multi-task evolutionary algorithm. Fault-tolerant control is achieved by combining a fuzzy wavelet neural network and a finite-time performance function. Dynamic grouping and an improved artificial potential field method are introduced to generate deadlock-free trajectories. Self-triggered communication decision is used to predict control update times on demand, thereby reducing communication frequency.

Benefits of technology

It achieves efficient collaborative planning and fault-tolerant control of UAV swarms in communication-constrained environments, reduces state dimensions and communication burden, improves formation obstacle avoidance flexibility and robustness, avoids deadlock and Zeno's phenomenon, and adapts to reliability and mission efficiency under resource-constrained and fault-interference conditions.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN122387166A_ABST
    Figure CN122387166A_ABST
Patent Text Reader

Abstract

The application discloses a kind of communication is limited under manned unmanned aerial vehicle group's cooperative planning and fault-tolerant control method and system, belong to unmanned aerial vehicle cooperative control technical field;The method comprises: constructing hierarchical system initial state, using minimum enclosing circle model compression subgroup state;Based on multi-task evolution algorithm, cross-layer cooperative optimization is carried out to upper layer obstacle avoidance and bottom control parameter;Through dynamic subgroup reconstruction and improved artificial potential field method, generate dead-lock-free desired trajectory;Using fuzzy wavelet neural network online approximation uncertain term, combined with finite time performance function and backstepping method realizes adaptive fault-tolerant control;Based on the dynamic characteristics of self-triggered communication decision, predict control update time and keep communication silence within interval;The application solves the problems of limited communication bandwidth, obstacle avoidance deadlock and actuator failure, and improves the robustness and task efficiency of the system.
Need to check novelty before this filing date? Find Prior Art