A Finite-Time Formation Method for Unmanned Aerial Vehicles Using Directed Communication Topology

Abstract

The invention discloses a limited-time formation method for unmanned aerial vehicles using a directed communication topology, and relates to the technical field of unmanned aerial vehicles. The obtained state information is sent to the distributed finite-time formation controller; the distributed finite-time formation controller forms maneuvering commands through transformation and calculation according to the formation configuration information, the acquired state information of adjacent UAVs and its own state information. Under the request of the maneuvering command, the UAV changes its course or speed and flies along the predetermined track. Compared with the traditional method, the position error e in the method of the present invention p，i Without using formation trajectory information, the controlled system can be stabilized in a limited time, and has the advantages of continuous controller signal, small calculation amount, no need for the controlled system to satisfy the homogeneity assumption, and the use of directed communication topology.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a limited-time formation method for unmanned aerial vehicles using a directed communication topology. Background technique [0002] Unmanned aerial vehicles play a huge role in the military and civilian fields. A large number of facts have proved that there are still many problems when a single unmanned aerial vehicle performs tasks. For example, the limitation of the sensor angle makes it impossible for the unmanned aerial vehicle to effectively cover the entire reconnaissance area when searching for targets in a wide range. In order to improve the success rate of unmanned aerial vehicles to complete a single mission, and to broaden the scope of use of unmanned aerial vehicles, the multi-unmanned aerial vehicles cooperative formation technology emerged as the times require. Considering the motion characteristics of UAVs, the flight formation system requires hig...

AI Technical Summary

Problems solved by technology

[0004] In addition, most of the existing research on the cooperative formation of UAVs is based on the undirected communication topology, that is, the communication interaction between UAVs is bidirectional

However, in practical applications, due to economic or technical reasons, such as communication costs or communication failures, many communication networks cannot form an undirected topology

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