CN110703795A - Unmanned aerial vehicle group cooperative security control method based on switching topology - Google Patents
Unmanned aerial vehicle group cooperative security control method based on switching topology Download PDFInfo
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Abstract
The invention discloses a switching topology-based unmanned aerial vehicle group cooperative security control method, which comprises the following steps: representing information interaction between the unmanned aerial vehicle clusters in each switching subsystem by using a time-varying switching topological graph; considering the influence of external interference, respectively establishing a second-order kinetic equation of an unmanned aerial vehicle pilot and an unmanned aerial vehicle follower in a switching subsystem; designing a safety controller considering external interference and event triggering simultaneously, and being used for tracking the motion trail of a pilot of the unmanned aerial vehicle and keeping the formation among the unmanned aerial vehicle clusters of the followers; and establishing an error system equation of the unmanned aerial vehicle group under the switching subsystem to obtain a stability condition of the error system of the unmanned aerial vehicle group, and inhibiting external interference by using an H-infinity method. The invention solves the problems of information interaction, data redundancy and external interference under different formation shapes in unmanned aerial vehicle formation.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle control, and particularly relates to an unmanned aerial vehicle group cooperative security control method.
Background
The unmanned aerial vehicle has autonomy or remote controllability, and the unmanned aerial vehicle can be applied to many scenes by being provided with relevant equipment. For example, a drone carrying a camera may take photographs; unmanned aerial vehicles loaded with weapons of destruction may be used in military warfare. Compared with the unmanned aerial vehicle, the unmanned aerial vehicle has the advantages of low cost, no casualty threat and strong flexibility, and in addition, in recent years, the control technology, the communication technology, the computer science and the material technology are rapidly developed, so that the research of the unmanned aerial vehicle is more favorable, and especially, the unmanned aerial vehicle is applied to civil application, military application and the like.
However, since a single drone has limited capability in performing a task, a failure may cause a task to fail. In the face of more complicated aerial tasks, a single unmanned aerial vehicle is more potential and single-force, and the development of the unmanned aerial vehicle formation technology can be well solved. According to the judgment of battlefield large environment and enemy force distribution, the multiple unmanned aerial vehicles carry out autonomous formation and cooperative control, and carry out cooperative reconnaissance and battle in a certain favorable formation arrangement, compared with single-machine single battle, the success rate of executing tasks is greatly improved. The unmanned aerial vehicle formation cooperation technology comprises the generation, the maintenance and the transformation of unmanned aerial vehicle formations, and due to the difference of executed tasks, the unmanned aerial vehicle cluster needs to be better matched and cooperated with different formations, so that the defects of low survival capability, low task execution efficiency, poor safety and the like of a single unmanned aerial vehicle can be overcome. At present, the unmanned aerial vehicle formation cooperation technology mainly needs to solve the formation maintenance control problem, the communication problem between unmanned aerial vehicles, the data fusion problem, the path planning problem and the like.
The formation of the unmanned aerial vehicles cannot be invariable in the process of executing tasks. For example, when the aerial cruise is carried out, the horizontal formation can cover a large area, which is beneficial to reconnaissance and threat finding in time; when the battle attacks, the terraces are often selected, and the battle strategy can be flexibly realized. However, the information interaction topology between the unmanned aerial vehicle clusters is different under different formation, and how to realize the information interaction under different formation is a problem to be considered in the field.
In addition, if a follower unmanned aerial vehicle carries out periodic sampling to data real-time transmission that will gather gives pilot unmanned aerial vehicle or adjacent follower unmanned aerial vehicle, if sample data's change is little, will probably produce a large amount of redundant data, cause communication link to block and even collapse. Meanwhile, in unmanned aerial vehicle formation, external interference is also a big problem which cannot be ignored. Unmanned aerial vehicle can receive the various interference that come from external environment at the flight in-process, like wind and air current etc, these external disturbance not only can influence unmanned aerial vehicle's flight state, lead to the safe distance between the unmanned aerial vehicle formation to change, influence the safe flight of unmanned aerial vehicle formation to cause the collision to take place between the unmanned aerial vehicle, can cause the unable normal work of unmanned aerial vehicle system under disturbing in addition, cause the task execution to be obstructed, cause serious economic loss.
Disclosure of Invention
In order to solve the technical problems mentioned in the background art, the invention provides a switching topology-based unmanned aerial vehicle cluster cooperative security control method.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
a switching topology-based unmanned aerial vehicle group cooperative security control method comprises the following steps:
(1) introducing graph theory, and expressing information interaction between the unmanned aerial vehicles in each switching subsystem by using a time-varying switching topological graph, wherein the information interaction comprises information transmission of a pilot unmanned aerial vehicle to a follower unmanned aerial vehicle and information communication between the follower unmanned aerial vehicles; one switching subsystem is an unmanned aerial vehicle group communication topology corresponding to a task or environment;
(2) establishing a second-order dynamic model of an unmanned aerial vehicle navigator in the switching subsystem, wherein the second-order dynamic model is used for providing a motion track of the unmanned aerial vehicle during the flying process; considering the influence of external interference, establishing a second-order kinetic equation of the follower of the unmanned aerial vehicle in the switching subsystem;
(3) by introducing a time-varying safety function, the unmanned aerial vehicle follower achieves an ideal formation effect and keeps a safety distance; redundant data among follower unmanned aerial vehicles are reduced by introducing an event trigger mechanism, and network transmission pressure is relieved; therefore, a safety controller considering external interference and event triggering simultaneously is designed, and is used for tracking the motion trail of the piloter of the unmanned aerial vehicle and keeping the formation among the unmanned aerial vehicle clusters of the followers;
(4) establishing an error system equation of the unmanned aerial vehicle group under a switching subsystem to obtain a stability condition of the error system of the unmanned aerial vehicle group, and inhibiting external interference by using an H-infinity method; and (4) solving a gain expression of the safety controller in the step (3) according to the stability condition.
Further, in the step (1), all the N unmanned aerial vehicles are provided, wherein 1 unmanned aerial vehicle pilot is provided, and the rest N-1 unmanned aerial vehicles are provided with unmanned aerial vehicle followers; a directed graph G ═ { V, W, a } is introduced to describe information interaction between N drones, where V ═ { V ═ V }1,v2,...,vNDenotes a vertex set, W { (v) }i,vj)|(i≠j),vi,vjE.v represents a set of edges, a ═ aij]Representing the adjacency matrix, element aijRepresenting the association between the ith drone and the jth drone, i and j being adjacent drones, i, j being 1,2, …, N, if aij1, it means that the jth drone can acquire information from the ith drone, and if aijWhen the number of the unmanned aerial vehicles is 0, the unmanned aerial vehicles adjacent to each other cannot exchange information, and a is defined simultaneouslyii＝0；
Definition matrix
Its laplace matrix L ═ D-a; the unmanned aerial vehicle group is influenced by task arrangement requirements or external environment in the flight process, the formation of the unmanned aerial vehicle group can be changed, the communication topology among the unmanned aerial vehicle groups is changed, and the interactive relationship among the unmanned aerial vehicle groups is changed by using a graph G based on switching topologyσ(t)Where σ (t) e {1, 2.,. M } represents the switching signal, M is the total number of switching signals, graph Gσ(t)The unmanned aerial vehicle group system is collectively called as a sigma (t) th switching subsystem; a. the1σ(t)An adjacency matrix representing the connection between the pilot drone and the follower drone in the σ (t) -th handover subsystem, A2σ(t)An adjacency matrix representing the association between follower drones in the σ (t) th handover subsystem; defining a degree matrix between follower dronesWherein
Representing the relation between the ith follower unmanned aerial vehicle and the jth follower in the sigma (t) th switching subsystem, wherein the Laplace matrix is L2σ(t)＝D2σ(t)-A2σ(t)。
Further, in step (2), the second-order dynamical model of the drone navigator is as follows:
wherein p is1σ(t)(t) and upsilon1σ(t)(t) respectively representing the position vector and velocity vector of the pilot drone, the upper point representing its first differential,
and
t represents the moment for the known damping coefficient of the unmanned aerial vehicle;
for the ith follower drone, i is 2,3, …, N is the total number of drones, and its second order kinetic model is as follows:
wherein p isiσ(t)(t)，υiσ(t)(t) and uiσ(t)(t) represents the position vector, velocity vector and control input vector, ω, of the ith follower drone, respectivelyiσ(t)(t) is external interference.
Further, in the step (3), the definition
Using time-varying security functions
To represent with xiσ(t)(t) a corresponding ideal state in which
And
respectively represent and piσ(t)(t) and upsiloniσ(t)(t) a corresponding ideal position vector and ideal velocity vector,
superscript T represents matrix transposition;
defining state error information
Obtaining the safety control law of the ith follower unmanned aerial vehicle:
wherein, K1σ(t)And K2σ(t)Is the gain, K, of the safety controller to be designed1σ(t)For maintaining consistency between follower unmanned aerial vehicle clusters, K2σ(t)For maintaining coordinated safety control between the pilot drone and the follower drone,
representing the ideal acceleration vector of the ith drone.
Further, in step (3), an event trigger mechanism is introduced, and when the event trigger condition is not satisfied, the currently acquired state error information is transmitted through the network, otherwise, the currently acquired state error information is discarded, and the transmission information at the previous moment is continuously adopted, wherein the event trigger condition is as follows:
wherein the content of the first and second substances,
indicating the latest information transmission time of the i-th follower unmanned aerial vehicle
Error of state information of, deltaiσ(t)E [0,1) represents the set trigger parameter, Ωiσ(t)> 0 represents an adaptive unknown trigger matrix.
Further, in step (4), switching the sub-system-based unmanned aerial vehicle fleet error system equation by the σ (t):
zσ(t)＝ξσ(t)(t)
wherein the content of the first and second substances,
IN-1is an N-1 dimensional unit array,
represents the kronecker product; z is a radical ofσ(t)Switching the control output of the subsystem for σ (t);
i represents a unit array;
further, in step (4), the stability condition of the drone swarm error system is as follows:
if the constant lambda is more than 0, mu is more than or equal to 1, the interference suppression parameter gamma is more than 0, and the adaptive matrix M is provided1σ(t)，M2σ(t)，Ωσ(t)> 0, the following inequality holds:
inequality (1) is established to indicate that the unmanned aerial vehicle group error system is stable under the sigma (t) th switching subsystem, inequalities (2) and (3) are established to indicate that the global unmanned aerial vehicle group error system is stable, and the gain of the safety controller is equal to
Wherein the content of the first and second substances,
the element (x) in (B) represents an element (B) symmetrical to the element (B)T；
Adopt the beneficial effect that above-mentioned technical scheme brought:
(1) the invention applies the switching idea to the information interaction between the unmanned aerial vehicles, namely different formation shapes correspond to different communication topologies, thereby better meeting the actual requirements of unmanned aerial vehicle formation;
(2) the invention relieves the data transmission pressure among the unmanned aerial vehicle clusters by introducing a distributed event trigger mechanism, and effectively solves the problem of network resource limitation;
(3) the invention fully considers the influence of external interference on each follower unmanned aerial vehicle, and in order to reduce the influence of the external interference on the safe flight of unmanned aerial vehicle formation, the H infinity method is utilized to suppress the external interference.
Drawings
Fig. 1 is a flow chart of controller design of the ith drone in the sigma (t) th subsystem of the present invention;
FIG. 2 is a schematic view of the unmanned aerial vehicle team cooperative safe flight according to the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The invention designs a switching topology-based unmanned aerial vehicle group cooperative security control method, which comprises the following steps:
step 1: introducing graph theory, and expressing information interaction between the unmanned aerial vehicles in each switching subsystem by using a time-varying switching topological graph, wherein the information interaction comprises information transmission of a pilot unmanned aerial vehicle to a follower unmanned aerial vehicle and information communication between the follower unmanned aerial vehicles; one switching subsystem is an unmanned aerial vehicle group communication topology corresponding to a task or environment;
step 2: establishing a second-order dynamic model of an unmanned aerial vehicle navigator in the switching subsystem, wherein the second-order dynamic model is used for providing a motion track of the unmanned aerial vehicle during the flying process; considering the influence of external interference, establishing a second-order kinetic equation of the follower of the unmanned aerial vehicle in the switching subsystem;
and step 3: by introducing a time-varying safety function, the unmanned aerial vehicle follower achieves an ideal formation effect and keeps a safety distance; redundant data among follower unmanned aerial vehicles are reduced by introducing an event trigger mechanism, and network transmission pressure is relieved; therefore, a safety controller considering external interference and event triggering simultaneously is designed, and is used for tracking the motion trail of the piloter of the unmanned aerial vehicle and keeping the formation among the unmanned aerial vehicle clusters of the followers;
and 4, step 4: establishing an error system equation of the unmanned aerial vehicle group under a switching subsystem to obtain a stability condition of the error system of the unmanned aerial vehicle group, and inhibiting external interference by using an H-infinity method; and solving the gain expression of the safety controller in the step 3 according to the stability condition.
In this embodiment, the following preferred scheme is adopted in step 1:
for the unmanned aerial vehicle group subsystem consisting of N unmanned aerial vehicles, wherein 1 unmanned aerial vehicle navigator is arranged, N-1 unmanned aerial vehicle followers are arranged, and a directed graph G is introduced to describe information interaction among the N unmanned aerial vehicles, wherein V is { V, W, A }, and V is1,v2,...,vNW { (v) } is used to represent a set of verticesi,vj)|(i≠j),vi,vje.V is the set of edges, A ═ aij](i, j ═ 1, 2.., N) denotes an adjacency matrix, where the element a in the adjacency matrixijThe link between the ith unmanned aerial vehicle and the jth unmanned aerial vehicle is shown, and i and j are adjacent unmanned aerial vehicles. If it is notaij1(i ≠ j), it indicates that the jth drone can acquire information from the ith drone, and vice versa. If a isij0(i ≠ j), this indicates that two adjacent drones cannot exchange information, and in addition, for i ═ 1,2ii＝0。
Definition matrixThe laplace matrix L ═ D-a. Because the unmanned aerial vehicle cluster is influenced by task arrangement requirements or external environment in the flying process, the formation of the unmanned aerial vehicle can change, so that the communication topology between the unmanned aerial vehicle clusters can also change, and the interactive relationship between the unmanned aerial vehicle clusters uses a graph G based on switching topologyσ(t)Wherein σ (t) [ [0, + ∞) → {1, 2.,. M } represents the switching signal, and a graph G of the switching topologyσ(t)The following unmanned aerial vehicle group is collectively referred to as a handover subsystem.
An adjacency matrix representing the connection between the pilot drone and the follower drone in the σ (t) th subsystem;an adjacency matrix representing the connection between follower drones; definition of
Wherein the degree matrix between follower drones is
Wherein
Representing the link between the ith follower drone and the jth follower in the sigma (t) th subsystem. Laplace matrix is L2σ(t)＝D2σ(t)-A2σ(t)。
In this embodiment, the following preferred scheme is adopted in step 2:
the second order dynamical model of the piloter of the unmanned plane is as follows:
wherein p is1σ(t)(t) and upsilon1σ(t)(t) respectively representing the position vector and velocity vector of the pilot drone, the upper point representing its first differential,
and
known damping coefficient for the drone;
for the ith follower drone, i is 2,3, …, N is the total number of drones, and its second order kinetic model is as follows:
wherein p isiσ(t)(t)，υiσ(t)(t) and uiσ(t)(t) represents the position vector, velocity vector and control input vector, ω, of the ith follower drone, respectivelyiσ(t)(t) is external interference. Consider that the drone pilot and drone follower models are the same, therefore have the same drone damping coefficient.
Definition of
Then:
wherein the content of the first and second substances,
in this embodiment, the following preferred scheme is adopted in step 3:
in order to enable unmanned aerial vehicle followers to achieve ideal formation effect, time-varying formation safety function is adopted
To represent x corresponding theretoiσ(t)(t) an ideal state whereinAnd
respectively represent and piσ(t)(t) and upsiloniσ(t)(t) a corresponding ideal position vector and ideal velocity vector,
describing ideal position and speed information of unmanned aerial vehicle formation by combining defined time-varying functions, definingCan obtain ith follower unmanned aerial vehicle's safety controller:
wherein, K1σ(t)And K2σ(t)Is the safety controller gain to be designed. K1σ(t)For maintaining consistency between follower unmanned aerial vehicle clusters, K2σ(t)Used for maintaining cooperative safety control between the pilot unmanned aerial vehicle and the follower unmanned aerial vehicle.
Express that the ith unmanned aerial vehicle corresponds to ideal unmanned aerial vehicleOf the acceleration of (c).
Considering that network resources are limited, an event triggering mechanism is introduced between two adjacent follower drones to relieve data transmission pressure between the follower drones. The core idea of the event triggering mechanism is as follows: and comparing the state error information acquired at the current moment of the unmanned aerial vehicle i with the latest transmitted error information, if the state error information does not meet the event triggering condition given below, transmitting the state error information acquired at the current moment through the network, otherwise, discarding the state error information, and continuing to use the transmitted information at the previous moment. Different from the traditional event triggering mechanism, the invention adopts the error of the ith unmanned aerial vehicle and the corresponding ideal formation information as the state information, and simultaneously comprises the position and speed information of the unmanned aerial vehicle, compared with the prior separate sampling of the position information and the speed information, the invention can greatly save the sensor resources of the unmanned aerial vehicle and simultaneously avoid the asynchronous problem of data transmission. The latest information transmission time of the ith unmanned aerial vehicle is defined as
Follower unmanned aerial vehicle is at latest transmission moment
The state information difference with an ideal follower unmanned aerial vehicle isConsidering that the event trigger mechanism is mainly used to determine whether all the position and speed information collected by the sensor of the follower drone are transmitted to the adjacent follower drone, the event trigger mechanism may be described by the following judgment rules:
wherein the content of the first and second substances,
the difference value, delta, between the state information difference at the current time and the state information difference at the latest transmission time of the unmanned aerial vehicleiσ(t)E [0,1) represents the set trigger parameter, Ωiσ(t)> 0 represents an unknown trigger matrix of suitable dimensions.
In this example, the following preferred scheme is adopted in step 4:
simultaneously, considering the influence of external interference and an event trigger mechanism on the follower of the unmanned aerial vehicle, combining the safety controller, the closed loop system capable of obtaining the ith unmanned aerial vehicle follower is as follows:
the unmanned aerial vehicle follower not only needs to keep consistency, but also needs to track the movement track of the unmanned aerial vehicle navigator. Thus, define
As the state information difference of the unmanned aerial vehicle follower and the pilot, an error closed-loop system of the unmanned aerial vehicle follower and the unmanned aerial vehicle pilot can be obtained:
the above is directed at a single unmanned aerial vehicle, and the σ (t) th subsystem is composed of N-1 follower unmanned aerial vehicles, and by introducing kronecker product to describe the unmanned aerial vehicle cluster based on the event trigger mechanism, an unmanned aerial vehicle cluster error system under the σ (t) th switching subsystem can be obtained:
zσ(t)＝ξσ(t)(t)
wherein the content of the first and second substances,
IN-1is an N-1 dimensional unit array,
represents the kronecker product; z is a radical ofσ(t)Switching the control output of the subsystem for σ (t);
the consistency between unmanned aerial vehicle follower and unmanned aerial vehicle pilot and the safe uniformity in coordination between unmanned aerial vehicle follower self under the switching subsystem of the assurance sigma (t) guarantee the safe flight of unmanned aerial vehicle formation simultaneously, can obtain the stable sufficiency condition of unmanned aerial vehicle crowd error system as follows:
if the constant lambda is more than 0, mu is more than or equal to 1, the interference suppression parameter gamma is more than 0, and the adaptive matrix M is provided1σ(t)，M2σ(t)，
Ωσ(t)> 0, the following inequality holds:
the inequality (1) is established to show that the unmanned aerial vehicle group error system is stable under the sigma (t) th switching subsystem. Inequalities (2) and (3) are established to show that the global unmanned aerial vehicle fleet error system is stable. The follower unmanned aerial vehicle can track the leader unmanned aerial vehicle, the follower unmanned aerial vehicle cluster can achieve collaborative safety consistency, and the exponential decay rate is
Gain of safety controller
Can be obtained by a linear matrix inequality technology of MATLAB. The above stability conditions can be demonstrated by the Lyapunov stability theory.
The design flow chart of the controller of the ith unmanned aerial vehicle in the sigma (t) sub-system of the invention is shown in fig. 1, and the schematic diagram of the unmanned aerial vehicle group cooperated with safe flight is shown in fig. 2.
The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.
Claims (7)
1. A switching topology-based unmanned aerial vehicle group cooperative security control method is characterized by comprising the following steps:
(1) introducing graph theory, and expressing information interaction between the unmanned aerial vehicles in each switching subsystem by using a time-varying switching topological graph, wherein the information interaction comprises information transmission of a pilot unmanned aerial vehicle to a follower unmanned aerial vehicle and information communication between the follower unmanned aerial vehicles; one switching subsystem is an unmanned aerial vehicle group communication topology corresponding to a task or environment;
(2) establishing a second-order dynamic model of an unmanned aerial vehicle navigator in the switching subsystem, wherein the second-order dynamic model is used for providing a motion track of the unmanned aerial vehicle during the flying process; considering the influence of external interference, establishing a second-order kinetic equation of the follower of the unmanned aerial vehicle in the switching subsystem;
(3) by introducing a time-varying safety function, the unmanned aerial vehicle follower achieves an ideal formation effect and keeps a safety distance; redundant data among follower unmanned aerial vehicles are reduced by introducing an event trigger mechanism, and network transmission pressure is relieved; therefore, a safety controller considering external interference and event triggering simultaneously is designed, and is used for tracking the motion trail of the piloter of the unmanned aerial vehicle and keeping the formation among the unmanned aerial vehicle clusters of the followers;
(4) establishing an error system equation of the unmanned aerial vehicle group under a switching subsystem to obtain a stability condition of the error system of the unmanned aerial vehicle group, and inhibiting external interference by using an H-infinity method; and (4) solving a gain expression of the safety controller in the step (3) according to the stability condition.
2. The cooperative security control method for unmanned aerial vehicle group based on switching topology as claimed in claim 1, wherein in step (1), in all N unmanned aerial vehicles, 1 is unmanned aerial vehicle navigator and the remaining N-1 are unmanned aerial vehicle followers; a directed graph G ═ { V, W, a } is introduced to describe information interaction between N drones, where V ═ { V ═ V }1,v2,...,vNDenotes a vertex set, W { (v) }i,vj)|(i≠j),vi,vjE.v represents a set of edges, a ═ aij]Representing the adjacency matrix, element aijRepresenting the association between the ith drone and the jth drone, i and j being adjacent drones, i, j being 1,2, …, N, if aij1, it means that the jth drone can acquire information from the ith drone, and if aijWhen the number of the unmanned aerial vehicles is 0, the unmanned aerial vehicles adjacent to each other cannot exchange information, and a is defined simultaneouslyii＝0；
Definition matrixIts laplace matrix L ═ D-a; the unmanned aerial vehicle group is influenced by task arrangement requirements or external environment in the flying process, the formation of the unmanned aerial vehicle group can be changed, and nothing is causedThe communication topology between the human cluster is changed, and the interactive relationship between the unmanned clusters is used as a graph G based on switching topologyσ(t)Where σ (t) e {1, 2.,. M } represents the switching signal, M is the total number of switching signals, graph Gσ(t)The unmanned aerial vehicle group system is collectively called as a sigma (t) th switching subsystem; a. the1σ(t)An adjacency matrix representing the connection between the pilot drone and the follower drone in the σ (t) -th handover subsystem, A2σ(t)An adjacency matrix representing the association between follower drones in the σ (t) th handover subsystem; defining a degree matrix between follower drones
Wherein
Representing the relation between the ith follower unmanned aerial vehicle and the jth follower in the sigma (t) th switching subsystem, and a Laplace matrix L of the relation2σ(t)＝D2σ(t)-A2σ(t)。
3. The cooperative security control method for unmanned aerial vehicle group based on switching topology according to claim 2, wherein in step (2), the second order dynamical model of unmanned aerial vehicle navigator is as follows:
wherein p is1σ(t)(t) and upsilon1σ(t)(t) respectively representing the position vector and velocity vector of the pilot drone, the upper point representing its first differential,
and
t represents the moment for the known damping coefficient of the unmanned aerial vehicle;
for the ith follower drone, i is 2,3, …, N is the total number of drones, and its second order kinetic model is as follows:
wherein p isiσ(t)(t)，υiσ(t)(t) and uiσ(t)(t) represents the position vector, velocity vector and control input vector, ω, of the ith follower drone, respectivelyiσ(t)(t) is external interference.
4. The cooperative security control method for unmanned aerial vehicle group based on switching topology as claimed in claim 3, wherein in step (3), definition is performedUsing time-varying security functions
To represent with xiσ(t)(t) a corresponding ideal state in which
And
respectively represent and piσ(t)(t) and upsiloniσ(t)(t) a corresponding ideal position vector and ideal velocity vector,
superscript T represents matrix transposition;
defining state error information
Obtaining the safety control law of the ith follower unmanned aerial vehicle:
wherein, K1σ(t)And K2σ(t)Is the gain, K, of the safety controller to be designed1σ(t)For maintaining consistency between follower unmanned aerial vehicle clusters, K2σ(t)For maintaining coordinated safety control between the pilot drone and the follower drone,
representing the ideal acceleration vector of the ith drone.
5. The unmanned aerial vehicle group cooperative security control method based on switching topology as claimed in claim 4, wherein in step (3), an event trigger mechanism is introduced, and when the event trigger condition is not satisfied, the currently acquired state error information is transmitted through the network, otherwise, the currently acquired state error information is discarded, and the transmission information at the previous moment is continuously adopted, and the event trigger condition is as follows:
wherein the content of the first and second substances,indicating the latest information transmission time of the i-th follower unmanned aerial vehicle
Error of state information of, deltaiσ(t)E [0,1) represents the set trigger parameter, Ωiσ(t)> 0 represents an adaptive unknown trigger matrix.
6. The cooperative unmanned aerial vehicle fleet safety control method based on switching topology according to claim 5, wherein in step (4), the unmanned aerial vehicle fleet error system equation under the switching subsystem of σ (t):
zσ(t)＝ξσ(t)(t)
wherein the content of the first and second substances,
IN-1is an N-1 dimensional unit array,represents the kronecker product; z is a radical ofσ(t)Switching the control output of the subsystem for σ (t);
7. the cooperative security control method for unmanned aerial vehicle fleet based on switching topology according to claim 6, wherein in step (4), the stability condition of the unmanned aerial vehicle fleet error system is as follows:
if the constant lambda is more than 0, mu is more than or equal to 1, the interference suppression parameter gamma is more than 0, and the adaptive matrix M is provided1σ(t)，M2σ(t)，Ωσ(t)> 0, the following inequality holds:
inequality (1) is established to indicate that the unmanned aerial vehicle group error system is stable under the sigma (t) th switching subsystem, inequalities (2) and (3) are established to indicate that the global unmanned aerial vehicle group error system is stable, and the gain of the safety controller is equal to
Wherein the content of the first and second substances,
the element (x) in (B) represents an element (B) symmetrical to the element (B)T；δσ(t)＝diag{δ1σ(t),δ2σ(t),...,δNσ(t)}； 
Are respectively as
And in the positive definite matrix under the a and b switching subsystems, tau is the average residence time of the switching signals.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111522361A (en) * | 2020-05-27 | 2020-08-11 | 北京理工大学 | Multi-unmanned aerial vehicle formation consistency control method in master-slave mode |
| CN111531538A (en) * | 2020-05-08 | 2020-08-14 | 哈尔滨工业大学 | Consistency control method and device for multi-mechanical arm system under switching topology |
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| CN111531538A (en) * | 2020-05-08 | 2020-08-14 | 哈尔滨工业大学 | Consistency control method and device for multi-mechanical arm system under switching topology |
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| CN111522361A (en) * | 2020-05-27 | 2020-08-11 | 北京理工大学 | Multi-unmanned aerial vehicle formation consistency control method in master-slave mode |
| CN112000108A (en) * | 2020-09-08 | 2020-11-27 | 北京航空航天大学 | Multi-agent cluster grouping time-varying formation tracking control method and system |
| WO2022077817A1 (en) * | 2020-10-13 | 2022-04-21 | 湖南大学 | Multiple unmanned aerial vehicle cooperative control method and system based on vision and performance constraints |
| CN113268083A (en) * | 2021-06-07 | 2021-08-17 | 山东大学 | Multi-unmanned aerial vehicle system formation tracking control method based on dynamic event triggering |
| CN113342016A (en) * | 2021-06-23 | 2021-09-03 | 湖南大学 | Autonomous underwater robot cooperative control method and system based on dynamic event triggering |
| CN113644691A (en) * | 2021-09-01 | 2021-11-12 | 南京辉强新能源科技有限公司 | Micro-grid distributed power supply cooperative control method and device based on variable-structure topological network |
| CN113644691B (en) * | 2021-09-01 | 2022-08-26 | 南京辉强新能源科技有限公司 | Micro-grid distributed power supply cooperative control method and device based on variable-structure topological network |
| CN114115002B (en) * | 2021-11-11 | 2023-08-11 | 西北工业大学 | Large cluster control method based on second-order communication topology |
| CN117092961A (en) * | 2023-10-19 | 2023-11-21 | 南京航空航天大学 | Switching control method and system for transition section of gyroplane based on equivalent input interference |
| CN117092961B (en) * | 2023-10-19 | 2024-01-30 | 南京航空航天大学 | Switching control method and system for transition section of gyroplane based on equivalent input interference |
| CN117170410A (en) * | 2023-11-01 | 2023-12-05 | 北京航空航天大学 | Control method for unmanned aerial vehicle formation flight and related products |
| CN117170410B (en) * | 2023-11-01 | 2024-01-30 | 北京航空航天大学 | Control method for unmanned aerial vehicle formation flight and related products |
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