CN109491402B - Multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control - Google Patents

Multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control Download PDF

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CN109491402B
CN109491402B CN201811298179.8A CN201811298179A CN109491402B CN 109491402 B CN109491402 B CN 109491402B CN 201811298179 A CN201811298179 A CN 201811298179A CN 109491402 B CN109491402 B CN 109491402B
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theta
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CN109491402A (en
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秦家虎
王帅
陈宇航
郑景文
林奕爽
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University of Science and Technology of China USTC
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Abstract

The utility model provides a many unmanned aerial vehicles cooperate target monitoring control method based on cluster control makes N unmanned aerial vehicles from its respective initial position, starts with arbitrary initial velocity, makes circular motion with different radiuses around same centre of a circle, and when reaching steady state, N unmanned aerial vehicles get into synchronous supervision mode or balanced supervision mode. The multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control can enable multiple unmanned aerial vehicles to perform cooperative operation, enhance the inspection effect and improve the reliability of the system.

Description

Multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control
Technical Field
The disclosure relates to the technical field of multi-unmanned aerial vehicle cluster control, in particular to a multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control.
Background
The unmanned aerial vehicle is widely applied to flying around a fixed target. In the military field, the system can be used for reconnaissance and monitoring of military targets of enemies and also can be used for providing aerial support and protection for personnel of our party; in the civil field, unmanned aerial vehicles carrying image acquisition equipment have been widely used for polling targets such as electric towers. If adopt a plurality of unmanned aerial vehicles to fly around a certain fixed target with the radius of difference around flying, form inner ring and outer loop like this, outer loop unmanned aerial vehicle can regard as defense unmanned aerial vehicle in military, and inner ring unmanned aerial vehicle is used for the actual work, and civilian outer loop also can regard as inner ring unmanned aerial vehicle's backup and assistance on can improving system reliability and work efficiency.
In the flying-around scheme in the prior art, one unmanned aerial vehicle is generally adopted to fly around a target, or a plurality of unmanned aerial vehicles are controlled in formation.
However, in the process of implementing the present disclosure, the inventor of the present application finds that the working efficiency and the system reliability of the method for flying around a target by using one unmanned aerial vehicle are far lower than those of a plurality of unmanned aerial vehicles, in addition, the method mostly adopts manual remote control by staff, and even if a small amount of automatic inspection schemes exist, the degree of autonomy is not high; although the formation control of the multiple unmanned aerial vehicles is that the multiple unmanned aerial vehicles fly in a coordinated and autonomous manner, the formation forms are mostly triangular formation, and the like, and even if the circular formation exists, the coordinated control of the phases (course angles) of the unmanned aerial vehicles cannot be realized, that is, all the unmanned aerial vehicles can not perform circular motion and simultaneously can keep the phases thereof in a synchronous state (all the unmanned aerial vehicles have the same course angle) or a balanced state (the course angles of all the unmanned aerial vehicles are uniformly distributed on a circle).
BRIEF SUMMARY OF THE PRESENT DISCLOSURE
Technical problem to be solved
Based on the technical problem, the present disclosure provides a multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control, so as to alleviate the technical problem that most unmanned aerial vehicle control schemes in the prior art are manually controlled by workers, and the unmanned aerial vehicles cannot perform circular motion and simultaneously can keep the phases thereof in a synchronous state or a balanced state to an autonomous degree.
(II) technical scheme
The utility model provides a many unmanned aerial vehicles cooperate target monitoring control method based on cluster control makes N unmanned aerial vehicles from its respective initial position, starts with arbitrary initial velocity, makes circular motion with different radiuses around same centre of a circle, and when reaching steady state, N unmanned aerial vehicle gets into synchronous supervision mode or balanced supervision mode, and N is more than or equal to 2, includes:
step A: establishing a target equation, and enabling the phases of the N unmanned aerial vehicles to reach expected phase distribution when the target equation calculates a minimum value;
and B: solving the descending direction of the target equation in the process of obtaining the minimum value;
and C: designing the control rate of the N unmanned aerial vehicles based on the descending direction;
step D: iteratively calculating the control rate, and sending the control rate corresponding to the target equation to N unmanned aerial vehicles;
step E: and D, repeating the step D until the N unmanned aerial vehicles terminate the monitoring mode.
In some embodiments of the present disclosure, in the step a, the target equation is defined by a plurality of equations:
Figure BDA0001851365320000021
Figure BDA0001851365320000022
wherein the content of the first and second substances,
Figure BDA0001851365320000023
Figure BDA0001851365320000024
zm＝xm+iym，m＝1，...，N，c＝[c1，...，cN]T，cmrepresenting the mth of the N drones with a fixed cruising speed vmAnd angular frequency ωcWhen circular motion is performed, the center of the circular track is theta 1N]TEach element of θ corresponds to a phase angle of each drone; when F is presentC(theta) when a minimum value is obtained, the N unmanned aerial vehicles do circular motion around a common circle center, and when f ispθ(θ) upon reaching its unique maximum point, N of said drones enter a synchronous surveillance mode, when fpθ(θ) upon reaching its unique minimum point, N of the drones enter a balanced surveillance mode.
In some embodiments of the present disclosure, in the step a:
the objective equation in the synchronous monitoring mode is as follows:
Figure BDA0001851365320000025
wherein:
Figure BDA0001851365320000031
when F is presentAWhen (theta) takes a minimum value, FC(theta) takes a minimum value, and
Figure BDA00018513653200000313
reach its unique maximum point;
the target equation in the equilibrium monitoring mode is as follows:
Figure BDA0001851365320000032
wherein:
Figure BDA0001851365320000033
when F is presentBWhen (theta) takes a minimum value, FC(theta) takes a minimum value, and
Figure BDA0001851365320000034
reach its unique minimum point;
wherein the content of the first and second substances,
Figure BDA0001851365320000035
in some embodiments of the present liter, in said step B, the direction of descent in the process of minimizing the target equation is solved according to the Levenberg-Marquardt algorithm.
In some embodiments of the present disclosure, in step B:
the falling direction of the objective equation in the synchronous monitoring mode is shown as follows:
Figure BDA0001851365320000036
wherein, JAIs fAThe first partial derivative of (theta) is,
Figure BDA0001851365320000037
Figure BDA0001851365320000038
the descending direction of the target equation in the balance monitoring mode is shown as follows:
Figure BDA0001851365320000039
wherein, JBIs fBThe first partial derivative of (theta) is,
Figure BDA00018513653200000310
Figure BDA00018513653200000311
in some embodiments of the present disclosure, in step C:
the control rate in the synchronous monitoring mode is as follows:
θk+1＝θk+dA，k+ωc
the control rate in the balance monitor mode is shown as follows:
θk+1＝θk+dB，k+ωc
wherein the content of the first and second substances,
Figure BDA00018513653200000312
ωcand (4) for the final expected angular velocities of the N unmanned planes making circular motion, k +1 and k represent the k +1 and k sampling moments of the N unmanned planes.
In some embodiments of the present disclosure, the step D comprises: step D1: initializing parameters, including: setting cruise speed v of each unmanned aerial vehiclemAnd angular frequency ω c, m 1, 2, N, let k 0; step D2: let k be k + 1; step D3: performing iterative operation on the control rate designed in the step C; step D4: if the function value of the target equation is not reduced, updating the damping coefficient, returning to the step D3 to repeat iterative operation, otherwise, entering the step D5; step D5: if the function value of the target equation obtains a minimum value, feeding the control rate obtained at the moment back to the N unmanned aerial vehicles, and returning to the step D2, otherwise, continuously executing iterationAnd (6) operation.
In some embodiments of the present disclosure, the initializing parameters in step D1 further includes setting β∈ (0, 1), and setting Fnew ═ F (θ) in step D4k+1) The criterion that the function value of the objective equation is not reduced is as follows: fnew > F (theta)k)+βgT(θk)dk。
In some embodiments of the disclosure, wherein: in step D1, the parameter initialization further includes: let damping coefficient mu > 0, upsilon > 1: in step D4, the manner of updating the damping coefficient is as follows: let μ ═ ν.
In some embodiments of the disclosure, wherein: in step D1, the parameter initialization further includes: setting a precision parameter eps and enabling the precision parameter eps to approach 0; in the step D5, tol | | | DkL; the judgment basis for obtaining the minimum value of the function value of the target equation is as follows: tol is less than or equal to eps.
(III) advantageous effects
According to the technical scheme, the multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control has one or part of the following beneficial effects:
(1) the multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control can enable multiple unmanned aerial vehicles to perform cooperative operation, enhance the inspection effect (the multi-unmanned aerial vehicle cooperative inspection can make up for the defect of insufficient inspection precision of one unmanned aerial vehicle) and improve the system reliability (other unmanned aerial vehicles can work normally even if some unmanned aerial vehicle has problems);
(2) compared with a manual remote control scheme in the prior art, the multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control has high degree of autonomy;
(3) the cluster control-based multi-unmanned aerial vehicle cooperative target monitoring control method can enable all unmanned aerial vehicles to do circular motion and simultaneously enable phases of all unmanned aerial vehicles to keep a synchronous state or a balanced state, and compared with the situation that only multiple unmanned aerial vehicles fly around without relevant phase cooperation, the two phase distributions have respective advantages; if the multiple unmanned aerial vehicles have balanced phase distribution, the coordinated flying around with the balanced phase distribution can be used for protecting the target at the circle center position, and the difficulty of the attack of the enemy unmanned aerial vehicle is greatly increased because the multiple unmanned aerial vehicles fly on a plurality of concentric circles in uniformly distributed phases;
(4) the cluster control-based multi-unmanned aerial vehicle cooperative target monitoring control method can be used in application scenes such as flying detection of an electric tower in the field of power inspection, reconnaissance and monitoring of military targets of enemies in the field of military, and the like.
Drawings
Fig. 1 is a flowchart illustrating steps of a multi-drone cooperative target monitoring control method based on cluster control according to the present disclosure.
Fig. 2 is an operational logic structure diagram of the multi-drone cooperative target monitoring control method based on cluster control according to the present disclosure.
Fig. 3 is a simulation result diagram of controlling 3 unmanned aerial vehicles to realize a synchronous monitoring mode by using the cluster control-based multi-unmanned aerial vehicle cooperative target monitoring control method provided by the present disclosure.
Fig. 4 is a simulation result diagram of controlling 2 unmanned aerial vehicles to realize a balanced monitoring mode by using the cluster control-based multi-unmanned aerial vehicle cooperative target monitoring control method provided by the present disclosure.
Detailed Description
The cluster control-based multi-unmanned aerial vehicle cooperative target monitoring control method can enable multiple unmanned aerial vehicles to perform cooperative operation, enhance the inspection effect and improve the reliability of the system.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
The utility model provides a many unmanned aerial vehicles collaborative target monitoring control method based on cluster control, make N unmanned aerial vehicles from their respective initial position, start with arbitrary initial velocity, do the circular motion with different radiuses around same centre of a circle, and when reaching steady state, N unmanned aerial vehicles enter into synchronous monitoring mode (all unmanned aerial vehicles have the same course angle) or balanced monitoring mode (the course angle of all unmanned aerial vehicles is even distributes on a circumference), N is no less than 2, as shown in figure 1, include:
step A: establishing a target equation, and enabling the phases of the N unmanned aerial vehicles to reach expected phase distribution when the target equation calculates a minimum value;
and B: solving the descending direction of the target equation in the process of obtaining the minimum value;
and C: designing the control rate of the N unmanned aerial vehicles based on the descending direction;
step D: iteratively calculating the control rate, and sending the control rate corresponding to the target equation to the N unmanned aerial vehicles;
step E: and D, repeating the step D until the N unmanned aerial vehicles terminate the monitoring mode.
In order to make the multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control provided by the embodiment of the present disclosure more easily understood, the following explains the multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control provided by the embodiment of the present disclosure by establishing a system model:
in a set of drone clusters containing N drones, the system model of the mth drone is described as:
Figure BDA0001851365320000061
Figure BDA0001851365320000062
Figure BDA0001851365320000063
wherein theta ismIs the phase angle, x, of the mth dronem，
Figure BDA0001851365320000064
Is the position coordinate of the mth drone, m 1.Δ t is the sampling time, assuming that drone m has a positive steady cruise velocity vmIs greater than 0, and
Figure BDA0001851365320000065
is its control input, in this embodiment, Δ t is omitted for ease of analysis, and the superscript m and subscript m have the same meaning.
To define the phase distribution of the two desired forms (synchronous monitoring mode and balanced monitoring mode) that a set of N drones needs to form, first the parameter p is defined by the following equationθ：
Figure BDA0001851365320000066
The synchronous phase profile is defined as: when the phases of all drones are the same, for m, N → ∞ 1θI → 1, i.e.: with t → ∞, θm-θn→0；
The equilibrium phase distribution is defined as: the phase values of the individual drones are such that with t → ∞, | pθ|→0。
Assuming that the mth drone is at a fixed cruising speed vmAnd angular frequency ωcPerforming a circular motion, the radius r of the circlem＝vm/|ωcI, make zm＝xm+iymThe center of the circle can be found to be
Figure BDA0001851365320000067
Defining a projection matrix
Figure BDA0001851365320000068
Let c be ═ c1，...，cN]TAnd if and only if
Figure BDA0001851365320000071
When the unmanned aerial vehicle moves, the centers of circles of all unmanned aerial vehicle motion tracks are overlapped, and based on the center of circle, the following target equation is defined
Figure BDA0001851365320000072
Figure BDA0001851365320000073
Wherein
Figure BDA0001851365320000074
The definition is as follows:
Figure BDA0001851365320000075
Figure BDA0001851365320000076
for m 1, N, if and only if FC(θ) Pc is 0 when its only minimum value is obtained; so far, a group of unmanned aerial vehicles do circular motion around a common circle center, and on the basis, in order to enable the phases of a plurality of unmanned aerial vehicles to achieve the expected phase distribution, an equation of the following target is defined
Figure BDA0001851365320000077
Figure BDA0001851365320000078
Wherein θ ═ θ1，...，θN]TEach element of θ corresponds to a phase angle of each drone; when in use
Figure BDA0001851365320000079
When the only maximum value point is reached, the phase angles of all the unmanned aerial vehicles are the same; when in use
Figure BDA00018513653200000710
When its only minimum point is reached, the phases of all drones are balanced.
Thus, in some embodiments of the present disclosure, in step a, the target equation is defined by a plurality of equations:
Figure BDA00018513653200000711
Figure BDA00018513653200000712
when F is presentC(theta) when obtaining the minimum value, N unmanned aerial vehicles do circular motion around a common circle center, and when the minimum value is obtained
Figure BDA00018513653200000713
When the only maximum value point of the unmanned aerial vehicle is reached, the N unmanned aerial vehicles enter a synchronous monitoring mode when the N unmanned aerial vehicles reach the only maximum value point
Figure BDA00018513653200000714
And when the only minimum value point of the unmanned aerial vehicles is reached, the N unmanned aerial vehicles enter a balance monitoring mode.
In some embodiments of the present disclosure, to achieve the above two goals: all unmanned aerial vehicles make circular motion around the same circle center at different radiuses and realize two expected phase distribution modes, and the following objective equation is designed
Figure BDA0001851365320000081
In step a:
the objective equation in the synchronous monitoring mode is as follows:
Figure BDA0001851365320000082
wherein:
Figure BDA0001851365320000083
when F is presentAWhen (theta) takes a minimum value, FC(theta) takes a minimum value, and
Figure BDA0001851365320000084
reach its unique maximum point;
the target equation in the equilibrium monitoring mode is as follows:
Figure BDA0001851365320000085
wherein:
Figure BDA0001851365320000086
when F is presentBWhen (theta) takes a minimum value, FC(theta) takes a minimum value, and
Figure BDA0001851365320000087
reach its unique minimum point;
wherein, UmαxIs composed of
Figure BDA0001851365320000088
Maximum value of, and
Figure BDA0001851365320000089
in some embodiments of the present disclosure, an objective function F is soughtA(theta) or FBThe process of minimization (θ) is actually solving the least squares problem, so in step B, the levenberg-Marquardt method, which is effective in solving such problems, is used to find the direction of descent in the process of minimization of the target equation.
In some embodiments of the disclosure, the step B is performed according to the levenberg-Marquardt method:
the falling direction of the objective equation in the synchronous monitoring mode is shown as follows:
Figure BDA00018513653200000810
wherein, JAIs fAThe first partial derivative of (theta) is,
Figure BDA00018513653200000811
Figure BDA00018513653200000812
the descending direction of the target equation in the balance monitoring mode is shown as follows:
Figure BDA00018513653200000813
wherein, JBIs fBThe first partial derivative of (theta) is,
Figure BDA00018513653200000814
Figure BDA0001851365320000091
in some embodiments of the present disclosure, in order to enable the unmanned aerial vehicle to make circular motion, based on the above descending direction, in step C:
the control rate in the design synchronous monitoring mode is shown as follows:
θk+1＝θk+dA，k+ωc
the control rate in the design balance monitoring mode is shown as follows:
θk+1＝θk+dB，k+ωc
wherein the content of the first and second substances,
Figure BDA0001851365320000092
ωcand (4) for the final expected angular velocities of the N unmanned planes making circular motion, k +1 and k represent the k +1 and k sampling moments of the N unmanned planes.
In some embodiments of the present disclosure, as shown in fig. 2, step D comprises:
step D1: initializing parameters, including: setting cruise speed v of each unmanned aerial vehiclem(i.e. initial cruising speed of each drone at the start of co-control) and angular frequency ωc(i.e., ultimate desire)The angular velocity of the circular motion of the plurality of unmanned aerial vehicles), m is 1, 2, N, k is 0, β∈ (0, 1), the damping coefficient μ > 0, the coefficient v > 1, the precision parameter eps is set and is made to approach 0 (for example, eps is 10)-6)；
Step D2: let k be k + 1;
step D3: performing iterative operation on the control rate designed in the step C;
step D4: let Fnew equal F (theta)k+1) If Fnew > F (θ)k)+βgT(θk)dkIf the function value of the target equation is not reduced, updating the damping coefficient to make mu be mu x upsilon, returning to the step D3 to perform iteration operation again, otherwise, entering the step D5;
step D5: let tol | | | dkIf tol is less than or equal to eps, the function value of the target equation at the moment is obtained to be a minimum value, the control rate obtained at the moment is fed back to the N unmanned aerial vehicles, the step D2 is returned, and otherwise, iterative operation is continuously executed.
The effectiveness of the multi-unmanned-aerial-vehicle cooperative target monitoring control method based on cluster control provided by the embodiment of the disclosure is verified by the following two specific embodiments:
example 1: in this embodiment, the initial speed and the phase angle of the unmanned plane cluster composed of 3 unmanned planes are respectively set to v1＝0.3m/s，v2＝0.6m/s，v3＝0.9m/s，θ1＝0，θ2＝π/4，θ3Pi/2, the final angular velocity desired by all drones is ωc0.3, the algorithm parameters are set to β -0.4, μ -8, and ν -1.5, as shown in fig. 3, all the drones start from different initial positions with different initial phases and make circular motion around the same center, and finally, the phases of all the drones reach a synchronous phase distribution state.
Example 2: in this embodiment, the initial speed and the phase angle of the unmanned plane cluster composed of 2 unmanned planes are respectively set to v1＝0.3m/s，v2＝0.6m/s，θ1＝0，θ2Pi/4, the final angular velocity desired by all drones is ωc0.3, the algorithm parameters are set to β -0.4,mu is 8, upsilon is 1.5, as shown in fig. 4, all the unmanned aerial vehicles start from different initial positions with different initial phases and do circular motion around the same circle center, and finally, all the unmanned aerial vehicles realize balanced phase distribution while realizing concentric motion.
From the above description, those skilled in the art should have clear understanding of the cooperative target monitoring control method based on cluster control provided by the embodiment of the present disclosure.
In summary, the cluster control-based multi-unmanned aerial vehicle cooperative target monitoring control method provided by the disclosure establishes the target equation and calculates the minimum value of the target equation, so that the multi-unmanned aerial vehicle performs cooperative operation, the patrol effect is enhanced, and the system reliability is improved.
It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.
And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims (9)

1. A multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control enables N unmanned aerial vehicles to start from respective initial positions and start at any initial speed, circular motion is carried out around the same circle center by different radiuses, when a stable state is achieved, the N unmanned aerial vehicles enter a synchronous monitoring mode or a balance monitoring mode, N is larger than or equal to 2, and the method comprises the following steps:
step A: establishing a target equation, and enabling phase angles of the N unmanned aerial vehicles to achieve expected phase distribution when the target equation calculates a minimum value;
and B: solving the descending direction of the target equation in the process of obtaining the minimum value;
and C: designing the control rate of the N unmanned aerial vehicles based on the descending direction;
step D: iteratively calculating the control rate, and sending the control rate corresponding to the target equation to N unmanned aerial vehicles;
step E: repeating the step D until the N unmanned aerial vehicles terminate the monitoring mode;
in the step C:
the control rate in the synchronous monitoring mode is as follows:
θk+1＝θk+dA，k+ωc；
the control rate in the balance monitor mode is shown as follows:
θk+1＝θk+dB，k+ωc；
wherein d isAFor the descending direction of the target equation in the synchronous monitoring mode, dBBalancing a descending direction of the target equation in the monitoring mode; theta is ═ theta1，...，θN]TEach element of θ corresponds to a phase angle of each drone;
Figure FDA0002540941030000011
ωcand (4) for the final expected angular velocities of the N unmanned planes making circular motion, k +1 and k represent the k +1 and k sampling moments of the N unmanned planes.
2. The cooperative target monitoring and controlling method of multiple drones based on cluster control according to claim 1, wherein in the step a, the target equation is defined by a plurality of equations as follows:
Figure FDA0002540941030000012
Figure FDA0002540941030000013
wherein the content of the first and second substances,
Figure FDA0002540941030000021
Figure FDA0002540941030000022
zm＝xm+iym，m＝1，...，N，c＝[c1，...，cN]Tcm represents the mth of the N drones at a fixed cruising speed vmAnd angular frequency ωcWhen circular motion is carried out, the circle center of the circular motion track;
when F is presentC(theta) when obtaining the minimum value, N unmanned aerial vehicles do circular motion around a common circle center, and when the minimum value is obtained
Figure FDA00025409410300000212
To its onlyWhen the maximum value is some, N unmanned aerial vehicles enter a synchronous monitoring mode, and when the maximum value is some, the unmanned aerial vehicles enter a synchronous monitoring mode
Figure FDA0002540941030000024
And when the only minimum value point of the unmanned aerial vehicles is reached, the N unmanned aerial vehicles enter a balance monitoring mode.
3. The method for monitoring and controlling the cooperative target of the multiple unmanned aerial vehicles based on the cluster control as claimed in claim 2, wherein in the step A:
the objective equation in the synchronous monitoring mode is as follows:
Figure FDA0002540941030000025
wherein:
Figure FDA0002540941030000026
when F is presentAWhen (theta) takes a minimum value, FC(theta) takes a minimum value, and
Figure FDA0002540941030000027
reach its unique maximum point;
the target equation in the equilibrium monitoring mode is as follows:
Figure FDA0002540941030000028
wherein:
Figure FDA0002540941030000029
when F is presentBWhen (theta) takes a minimum value, FC(theta) takes a minimum value, and
Figure FDA00025409410300000210
reach its unique minimum point;
wherein the content of the first and second substances,
Figure FDA00025409410300000211
4. the cooperative target monitoring and controlling method of multiple unmanned aerial vehicles based on cluster control as claimed in claim 3, wherein in step B, the descending direction of the target equation in the process of obtaining the minimum value is obtained according to a Levenberg-Marquardt algorithm.
5. The cooperative target monitoring and controlling method of multiple drones based on cluster control according to claim 4, wherein in step B:
the falling direction of the objective equation in the synchronous monitoring mode is shown as follows:
Figure FDA0002540941030000031
wherein, JAIs fAThe first partial derivative of (theta) is,
Figure FDA0002540941030000032
Figure FDA0002540941030000033
the descending direction of the target equation in the balance monitoring mode is shown as follows:
Figure FDA0002540941030000034
wherein, JBIs fBThe first partial derivative of (theta) is,
Figure FDA0002540941030000035
Figure FDA0002540941030000036
6. the method for monitoring and controlling the cooperative target of the multiple unmanned aerial vehicles based on the cluster control as claimed in claim 1, wherein the step D comprises:
step D1: initializing parameters, including: setting cruise speed v of each unmanned aerial vehiclemWith angular frequency omegacN, let k equal to 0;
step D2: let k be k + 1;
step D3: performing iterative operation on the control rate designed in the step C;
step D4: if the function value of the target equation is not reduced, updating the damping coefficient, returning to the step D3 to repeat iterative operation, otherwise, entering the step D5;
step D5: and if the function value of the target equation obtains a minimum value, feeding the control rate obtained at the moment back to the N unmanned aerial vehicles, and returning to the step D2, otherwise, continuously executing iterative operation.
7. The cluster control based multi-drone cooperative target monitoring control method of claim 6, wherein:
in step D1, the parameter initialization further includes: let β ∈ (0, 1);
in the step D4, Fnew is made equal to F (θ)k+1) The criterion that the function value of the objective equation is not reduced is as follows: fnew > F (theta)k)+βgT(θk)dk。
8. The cluster control based multi-drone cooperative target monitoring control method of claim 7, wherein:
in step D1, the parameter initialization further includes: let damping coefficient mu > 0, upsilon > 1:
in step D4, the manner of updating the damping coefficient is as follows: let μ ═ ν.
9. The cluster control based multi-drone cooperative target monitoring control method of claim 6, wherein:
in step D1, the parameter initialization further includes: setting a precision parameter eps and enabling the precision parameter eps to approach 0;
the steps areIn step D5, let tol | | | DkL; the judgment basis for obtaining the minimum value of the function value of the target equation is as follows: tol is less than or equal to eps.
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