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Unmanned aerial vehicle-trolley formation control method under all-weather condition

A control method and unmanned aerial vehicle technology, applied in two-dimensional position/course control, vehicle position/route/altitude control, adaptive control, etc., can solve the problem that formation patrol cannot be guaranteed, and operation mode switching is rarely considered Issues such as formation influence and simple modeling

Active Publication Date: 2020-08-18
HANGZHOU DIANZI UNIV
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AI Technical Summary

Problems solved by technology

However, many existing formation control methods are too simplistic in modeling and rarely take into account the effects of operating mode switching, actuator failures, and nonlinear disturbances on formation
In addition, due to the huge scale of the industrial park, the existing methods rarely take into account the energy-saving issues of drones and small cars, and cannot guarantee that the formation can successfully complete the patrol of the entire industrial park.

Method used

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  • Unmanned aerial vehicle-trolley formation control method under all-weather condition
  • Unmanned aerial vehicle-trolley formation control method under all-weather condition
  • Unmanned aerial vehicle-trolley formation control method under all-weather condition

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Experimental program
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Embodiment Construction

[0119] Step 1. Construct the topology between the UAV and the car

[0120] set υ 0 Indicates the UAV node (leader node), υ i , i∈{1,2,···,N} represents the car node (follower node). N is a positive integer, representing the number of carts. The size of N is selected according to actual needs. make Represents the topology of the UAV and car system, Contains the communication topology between cars UAV node υ 0 and UAV node υ 0 υ with the car node i The directed edge of Respectively represent the node set of the car and the directed edge set corresponding to the car. Indicates the communication topology The weight matrix of , where [·] N×N Represents a matrix with N×N elements. is the set of cart adjacency, if otherwise a ij =0. Diagonal matrix D=diag{D 1 ,D 2 ,···,D N} representation and topology The relevant leader adjacency matrix, where D i is a constant. if topology If there is at least one car node in D, there is a directed path to other car...

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Abstract

The invention relates to an unmanned aerial vehicle-trolley formation control method under an all-weather condition. The method comprises the following steps: firstly, constructing a topological structure of an unmanned aerial vehicle-trolley patrol formation, and establishing a state space model of an unmanned aerial vehicle-trolley patrol formation control system on the basis of a Markov model by considering four typical weather conditions and influences of system internal faults and nonlinear interference; by adopting a communication protocol triggered by an adaptive event, communication congestion is relieved, energy consumption is reduced, and a corresponding closed-loop system model is obtained by introducing a control protocol. Then, random stability analysis and consistency analysis are carried out on the closed-loop formation system by utilizing a random analysis method; and finally, solving a feedback gain matrix of the formation control system by using a linear matrix inequality method to obtain a parameter value of the controller. The invention provides an effective control method for all-weather unmanned aerial vehicle-trolley patrol formation.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and relates to a control method for ensuring formation patrols. By designing a multi-mode switching controller based on an adaptive event trigger mechanism, the consistent control of UAV-car formations can be realized, which can be used in modern security industry. Background technique [0002] With the advancement of urban construction, the concept of security is gradually popularized, and the awareness of security precautions in all walks of life continues to increase. In this context, the demand for security services is growing rapidly, the market prospect is broad, and the development potential is huge. With the current rapid development of my country's industrial parks in various places, the civil security needs of industrial parks have also further expanded, and are gradually moving towards modern management, intensification, and unmanned development. [0003] With the developme...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/02G05D1/10
CPCG05B13/042G05D1/0291G05D1/101
Inventor 薛冰陈云王惠姣柏建军
Owner HANGZHOU DIANZI UNIV
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