The invention discloses a security cooperative control method and
system for realizing mobile crowd
perception by unmanned aerial vehicles. The method comprises the steps of setting a random action exploration process, selecting initial actions of multiple unmanned aerial vehicles, calculating rewards based on a mobile crowd
perception model of the multiple unmanned aerial vehicles, establishing an experience
pool and updating states of the multiple unmanned aerial vehicles. Extracting a sample from the experience
pool, calculating an expected income of multi-unmanned aerial vehicle data collection, and updating a reviewer network according to the expected income; constructing a
language representation ERNIE model based on knowledge fusion enhancement and a Stackelberg game model, performing
gradient descent through a gradient calculated by the Stackelberg game model, and solving a result of minimum
gradient descent; and updating the target strategy network, adding different disturbances, observing fluctuation of reward values under different disturbances, if a convergence condition is met, storing the current strategy, otherwise, returning to extract samples from the experience
pool again. According to the method, the safety and robustness problems caused by unmanned aerial vehicle cooperative control deviation can be relieved.