CN116893692B - Unmanned aerial vehicle formation robust control system and control method for leader loss - Google Patents
Unmanned aerial vehicle formation robust control system and control method for leader loss Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle formation control, and discloses an unmanned aerial vehicle formation robust control system and a control method for leading people to lose. According to the unmanned aerial vehicle formation processing method, the actual situation that unmanned aerial vehicle formation executes tasks is fully considered, under the condition that a leader is lost, the leader of the unmanned aerial vehicle formation is selected again through search optimization, a new unmanned aerial vehicle formation is built, compensation control on the influence of the loss of the leader on the unmanned aerial vehicle formation is conducted, and therefore the influence of the loss of the leader on the unmanned aerial vehicle formation is effectively overcome, good robustness is achieved, and the unmanned aerial vehicle formation is guaranteed to safely and stably complete expected formation tasks.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle formation control, and particularly relates to an unmanned aerial vehicle formation robust control system and method for leading people to lose.
Background
The unmanned aerial vehicle has the advantages of low cost, stable flight, strong maneuverability, narrow space flight and the like, and is widely applied to the civil and military fields, such as agricultural spraying, travel aerial photography, logistics express, military reconnaissance, remote control monitoring, high-altitude hitting and the like. However, as task scenarios become more complex, it is often difficult to complete a given task with only a single drone. Therefore, multi-unmanned aerial vehicle formation technology has been developed, and the efficiency and success rate of unmanned aerial vehicle execution tasks are improved through a multi-unmanned aerial vehicle formation control system, so that the current research hot spot is achieved.
For the formation of multiple unmanned aerial vehicles, formation control means that a formation controller is designed to enable the multiple unmanned aerial vehicles to form a specific formation on a certain state level for combined flight. And the formation can be adjusted at any time along with the change of external environment and task requirements.
In the prior art, some patents exist on unmanned aerial vehicle formation control. Such as: chinese patent CN113359822B discloses an active disturbance rejection control method with pilot unmanned aerial vehicle formation. Chinese patent CN112783203B discloses a control method for unmanned aerial vehicle formation maintenance based on multiple sensors, however, in the above two patent inventions, the formation controller is based on a leader-follower framework design, and once the leader is attacked, the follower cannot obtain task information, so that cascade failure of the whole formation network is caused, and the formation task is difficult to complete.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an unmanned aerial vehicle formation robust control system and a control method based on the situation that a leader is lost in unmanned aerial vehicle formation tasks, so as to ensure that unmanned aerial vehicle formation can safely and stably complete expected formation tasks.
The invention provides an unmanned aerial vehicle formation robust control method for leader loss, which has the following technical scheme:
s1: establishing a directed communication link of unmanned aerial vehicle formation, and determining a leader;
s2: establishing a motion model of the unmanned aerial vehicle;
s3: establishing a distributed control law of the unmanned aerial vehicle according to the motion model of the unmanned aerial vehicle;
s4: when the leader is lost, the leader of the unmanned aerial vehicle formation is determined again, and a new unmanned aerial vehicle formation is constructed;
s5: according to the motion model of the unmanned aerial vehicle established in the step S2 and the new unmanned aerial vehicle formation established in the step S4, establishing a compensation control law for the influence of the loss of the leader on the unmanned aerial vehicle formation;
s6: and combining the distributed control law of the unmanned aerial vehicle and the compensation control law of the influence of the loss of the leader on the unmanned aerial vehicle formation to obtain a robust control law, so as to realize the control on the unmanned aerial vehicle formation.
Preferably, the S1 specifically includes:
s1-1: establishing a directed communication link of unmanned aerial vehicle formation, which is expressed as:
；
wherein,for the set of unmanned aerial vehicle nodes, +.>，/>Numbering unmanned aerial vehicle nodes; unmanned plane node->Unmanned plane node->Information exchange is carried out between the two nodes, namely the two nodes are mutually adjacent nodes,>，/>，/>the edges between neighboring nodes are +.>And->；/>A set of edges between all neighboring nodes in the unmanned aerial vehicle node;
in inertial coordinate systemE Ground (floor) -OXYZIn, unmanned aerial vehicle nodeThe position coordinate vectors of (a) are: />；/>、/>And->Unmanned plane nodes respectively->Coordinates in the X direction, Y direction, and Z direction;
in inertial coordinate systemE Ground (floor) -OXYZIn, unmanned aerial vehicle nodeThe position coordinate vectors of (a) are: />；/>、/>And->Unmanned plane nodes respectively->Coordinates in the X direction, Y direction, and Z direction;
s1-2: central node for determining unmanned aerial vehicle formation
If a certain unmanned aerial vehicle node exists in the directed communication link of the unmanned aerial vehicle formation, so that paths from the unmanned aerial vehicle node to all other unmanned aerial vehicle nodes exist, the unmanned aerial vehicle node is a leader of the unmanned aerial vehicle formation; in inertial coordinate systemE Ground (floor) -OXYZIn (3), the position coordinate vector of the leader is，/>、/>And->The coordinates of the leader in the X direction, Y direction and Z direction, respectively.
Preferably, the S2 specifically includes:
and establishing a motion model of the unmanned aerial vehicle, wherein the motion model is shown in the following formula:
wherein,for unmanned plane node->Position coordinate vector, ">For unmanned plane node->Speed vector of>For unmanned plane node->Acceleration vector of>For unmanned plane node->Control input of +.>For unmanned plane node->Interference factor of->、/>And->Are unmanned plane nodes->Is provided.
Preferably, the step S3 specifically includes:
unmanned plane nodeIs->The method comprises the following steps:
wherein,for unmanned plane node->Correlation coefficient with leader, +.>For the controller gain constant, +.>And->Are unmanned plane nodes->Controller gain matrix,/, of (2)>For unmanned plane node->Deviation from the leader's position; />Is unmanned plane nodeUnmanned plane node->The weight coefficient of the communication is set to be equal to the weight coefficient of the communication,Nfor unmanned plane node->Set of all neighbor node numbers, +.>For unmanned plane node->Unmanned plane node->Position deviation of->For the speed vector of the leader, +.>For unmanned plane node->Deviation from the leader's speed, +.>For unmanned plane node->Speed vector of>Representation of unmanned node->Unmanned plane node->A speed deviation between them.
Preferably, the S4 specifically includes:
s4-1: when the leader is lost, searching the whole unmanned aerial vehicle formation again, and respectively calculating importance indexes of all unmanned aerial vehicle nodes:
wherein,for unmanned plane node->Importance parameter of->For unmanned plane node->Importance index of (c).
S4-2: and sequencing all the remaining unmanned aerial vehicle nodes according to importance indexes, selecting the unmanned aerial vehicle node with the largest importance index as a new leader, and reconstructing a directed communication link based on a leader-follower structure to construct a new unmanned aerial vehicle formation.
Preferably, the control law of compensating the influence of the leader loss in S5 on the unmanned aerial vehicle formation is as follows:
wherein,loss of a compensating control law for leader influence on unmanned aerial vehicle formation, +.>Is->Is>Is->Is->Auxiliary variable related to acceleration vector, +.>Is->Control parameter matrix, ">Is->Is a derivative of (a).
Preferably, the robust control law in S6。
The invention also provides an unmanned aerial vehicle formation robust control system lost by the leader, which adopts the unmanned aerial vehicle formation robust control method lost by the leader and comprises a distributed control law module, a leader generation module, a compensation control module and a robust control module, wherein the compensation control module and the robust control module are used for compensating the influence of the leader loss on the unmanned aerial vehicle formation.
Preferably, the distributed control law module is used for controlling unmanned aerial vehicle formation cooperative flight without leader loss;
the leader generation module is used for searching for optimization under the condition that the leader is lost so as to reselect the leader formed by the unmanned aerial vehicle;
the compensation control module is used for generating a compensation control law to inhibit the influence of external interference and the influence of the loss interference of the leader on the unmanned aerial vehicle formation;
and the robust control module is used for fusing the control inputs of the distributed control law module and the compensation control module which is used for losing the influence on the formation of the unmanned aerial vehicle by the leader.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the unmanned aerial vehicle formation robust control method, the actual situation of the unmanned aerial vehicle formation to execute the task is fully considered, and based on the situation that the leader is lost in the task, the unmanned aerial vehicle formation robust control method is provided, the robust control law is built, and the problem that the traditional control method is influenced by the loss of the leader and cannot complete the expected task is effectively solved.
(2) The invention provides an unmanned aerial vehicle formation robust control system lost by a leader, which comprises a leader generation module, a search optimization module and a control module, wherein the leader generation module can be used for searching for optimizing and reselecting the unmanned aerial vehicle formation leader; the leader loses the compensation control module for the influence on the unmanned aerial vehicle formation, the influence on the unmanned aerial vehicle formation caused by the loss of the leader can be effectively overcome, the unmanned aerial vehicle formation has good robustness, and the unmanned aerial vehicle formation can safely and stably complete the expected formation task.
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So that the manner in which the above recited embodiments of the present invention and the manner in which the same are attained and can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings, which drawings are intended to be illustrative, and which drawings, however, are not to be construed as limiting the invention in any way, and in which other drawings may be obtained by those skilled in the art without the benefit of the appended claims.
FIG. 1 is a flow chart of a method of unmanned aerial vehicle formation robust control for leader loss in accordance with the present invention;
FIG. 2 is a schematic view of the drone in an inertial coordinate system and an ontology coordinate system;
FIG. 3 is a block diagram of a leader lost unmanned formation robust control system of the present invention;
fig. 4 is a block diagram of a directional communication link for 6 unmanned aerial vehicle formations in an embodiment of the present invention;
fig. 5 is a three-dimensional flight path of 6 unmanned aerial vehicles in an embodiment of the present invention.
1-leader, 2-unmanned aerial vehiclei3-unmanned aerial vehiclej4-unmanned aerial vehicle 1, 5-unmanned aerial vehicle 2, 6-unmanned aerial vehicle 3, 7-unmanned aerial vehicle 4, 8-unmanned aerial vehicle 5, 9-unmanned aerial vehicle 6.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
In the invention, in order to realize the state characterization of the unmanned plane node, an inertial coordinate system is usedE Ground (floor) -OXYZAnd the body coordinate system of unmanned aerial vehicle nodeE Body -O b X b Y b Z b ；
Wherein is used bySex coordinate systemE Ground (floor) -OXYZFor a coordinate system fixedly connected with the earth surface, the origin of the coordinate systemOThe selection is made at a point on the ground plane,OXthe axis is the direction pointing towards the target,OYthe axis being perpendicular toOXThe axis of the shaft is provided with a plurality of grooves,OZthe axes are perpendicular to the other two axes and form a right-hand rectangular coordinate system; body coordinate system of unmanned aerial vehicle nodeE Body -O b X b Y b Z b Fixedly connected with the unmanned aerial vehicle node body, and the origin of a body coordinate systemO b At the centroid of the unmanned node;O b X b the shaft is in the plane of symmetry of the unmanned plane node and is parallel to the axis of the unmanned plane node and is directed forward;O b Y b the axis being perpendicular toO b X b A shaft;O b Z b the axis is in the plane of symmetry of the unmanned plane node and is connected withO b X b Shaft and method for producing the sameO b X b The axes are vertical and form a right-hand rectangular coordinate system.
The invention provides a leader lost unmanned aerial vehicle formation robust control method, as shown in fig. 1, which specifically comprises the following steps:
step one, establishing a directed communication link of unmanned aerial vehicle formation and determining a leader:
the directional communication link for unmanned aerial vehicle formation is expressed as:
；
wherein,for the set of unmanned aerial vehicle nodes, +.>，/>Numbering unmanned aerial vehicle nodes; unmanned plane node->Unmanned plane node->Information exchange is carried out between the two nodes, namely the two nodes are mutually adjacent nodes,>，/>，/>the edges between neighboring nodes are +.>And->；/>Is a set of edges between all neighboring nodes in the drone node.
As shown in fig. 2, the unmanned plane nodeIn inertial coordinate systemE Ground (floor) -OXYZThe position of (2) is defined as follows:
representation of unmanned node->In inertial coordinate systemE Ground (floor) -OXYZPosition coordinate vector of>。
Representation of unmanned node->In inertial coordinate systemE Ground (floor) -OXYZCoordinates in the X direction.
Representation of unmanned node->In inertial coordinate systemE Ground (floor) -OXYZCoordinates in the Y direction.
Representation of unmanned node->In inertial coordinate systemE Ground (floor) -OXYZCoordinates in the Z direction.
Thereby, unmanned plane nodeNeighbor unmanned plane node->In inertial coordinate systemE Ground (floor) -OXYZThe position of (2) is defined as follows:
representing neighbor unmanned plane node +.>In inertial coordinate systemE Ground (floor) -OXYZPosition coordinate vector of>。
Representing neighbor unmanned plane node +.>In inertial coordinate systemE Ground (floor) -OXYZCoordinates in the X direction.
Representing neighbor unmanned plane node +.>In inertial coordinate systemE Ground (floor) -OXYZCoordinates in the Y direction.
Representing neighbor unmanned plane node +.>In inertial coordinate systemE Ground (floor) -OXYZCoordinates in the Z direction.
If there is one unmanned node in the unmanned aerial vehicle formation's directed communication link such that the unmanned aerial vehicle node has a path to all other unmanned aerial vehicle nodes, the directed communication link contains a spanning tree, the unmanned aerial vehicle node being called the root node of the tree.
The root node of the unmanned aerial vehicle formation is a leader of the unmanned aerial vehicle formation, and the position coordinate vector of the leader in the inertial coordinate system is，/>、/>And->The coordinates of the center node in the X direction, Y direction and Z direction, respectively.
Step two, establishing a motion model of the unmanned aerial vehicle:
in the course of the flight of the vehicle,for unmanned plane node->Position coordinate vector, ">For unmanned plane node->Is used to determine the velocity vector of (a),for unmanned plane node->Acceleration vector of>For unmanned plane node->Control input of +.>For unmanned plane node->Interference factor of->、/>And->Are unmanned plane nodes->Is provided.
Step three, establishing unmanned aerial vehicle nodes according to the unmanned aerial vehicle motion modelIs a distributed control law of (c).
Unmanned plane nodeThe distributed control law is designed as follows:
wherein,for unmanned plane node->Correlation coefficient with leader, +.>For the controller gain constant, +.>And->Are unmanned plane nodes->Controller gain matrix,/, of (2)>For unmanned plane node->Deviation from the leader's position; />Is unmanned plane nodeUnmanned plane node->The weight coefficient of the communication is set to be equal to the weight coefficient of the communication,Nfor unmanned plane node->Set of all neighbor node numbers, +.>For unmanned plane node->Unmanned plane node->Position deviation of->For the speed vector of the leader, +.>For unmanned plane node->Deviation from the leader's speed, +.>For unmanned plane node->Speed vector of>Representation of unmanned node->Unmanned plane node->A speed deviation between them.
And step four, considering the loss condition of a leader, respectively calculating importance indexes of the remaining unmanned aerial vehicle nodes of the unmanned aerial vehicle formation, searching, optimizing and selecting the leader which establishes the unmanned aerial vehicle formation again, and constructing a new unmanned aerial vehicle formation.
(1) When the leader is lost, the unmanned aerial vehicle formation remaining unmanned aerial vehicle nodes cannot obtain the desired formation information. At this time, the leader building module searches for the whole unmanned aerial vehicle formation member first, and calculates the importance index of the remaining unmanned aerial vehicle nodes of the unmanned aerial vehicle formation respectively as follows:
wherein,for unmanned plane node->Importance parameter of->For unmanned plane node->Importance index of (c).
(2) And sequencing all the remaining unmanned aerial vehicle nodes according to the importance index, selecting the unmanned aerial vehicle node with the largest importance index as a leader, and reconstructing a formation topology based on a leader-follower structure to construct a new unmanned aerial vehicle formation.
And fifthly, according to the movement model of the unmanned aerial vehicle established in the second step and the unmanned aerial vehicle formation established in the fourth step, establishing a compensation control law for the influence of the leader loss on the unmanned aerial vehicle formation.
Wherein,loss of a compensating control law for leader influence on unmanned aerial vehicle formation, +.>Is->Is>Is->Is->Auxiliary variable related to acceleration vector, +.>Is->Control parameter matrix, ">Is->Is a derivative of (a).
Step six, the unmanned aerial vehicle node in the step threeDistributed control law->And step five, the leader loses the compensation control law of the influence on the unmanned aerial vehicle formation +.>Combines to form a robust control law, thereby realizing the node +_of the unmanned plane>Is controlled by the control system. The robust control law is:
。
on the other hand, as shown in fig. 3, the invention provides an unmanned aerial vehicle formation robust control system for leading loss, which uses the unmanned aerial vehicle formation robust control method to control the flight of leading loss influence on unmanned aerial vehicle formation, and comprises a distributed control law module, a leading generation module, a leading loss compensation control module and a robust synthesis module.
The distributed control law module is used for controlling unmanned aerial vehicle formation cooperative flight without leader loss;
the leader generation module is used for searching for optimization under the condition that the leader is lost so as to reselect the leader formed by the unmanned aerial vehicle;
the compensation control module is used for generating a compensation control law to inhibit the influence of external interference and the influence of the loss interference of the leader on the unmanned aerial vehicle formation;
and the robust control module is used for fusing the control inputs of the distributed control law module and the compensation control module which is used for losing the influence on the formation of the unmanned aerial vehicle by the leader.
The method of the present invention will be described in detail by way of example below for the purpose of facilitating understanding of the present invention, but the present invention may be applied to other embodiments other than this, and therefore the scope of the present invention is not limited to the examples described below.
Example 1
In this embodiment, formation control is performed on the unmanned aerial vehicle formation composed of 6 unmanned aerial vehicles, and the unmanned aerial vehicle 1 is set as a leader. When the 6 unmanned aerial vehicles execute tasks, formation control is carried out according to the unmanned aerial vehicle formation robust control method lost by the leader, and the directional communication link structure established in the step one is shown in fig. 4.
Establishing a motion model of the unmanned aerial vehicle according to the second step; the unmanned aerial vehicle model parameters are set as follows:
，/>，/>，。
establishing a distributed control law of the unmanned aerial vehicle, and giving the expected formation of each unmanned aerial vehicle for calculating the control law as follows:m，/>m，/>m，/>m，m，/>m, above m represents unit meter. Controller gain matrix，/>。/>. According to the above setting conditions, the controller can calculate the distributed control law of the unmanned aerial vehicle +.>。
Further considering the loss condition of the leader, calculating importance indexes of the remaining unmanned aerial vehicles of the unmanned aerial vehicle formation respectively, searching, optimizing and re-selecting the leader for establishing the unmanned aerial vehicle formation. When the information of the leader unmanned aerial vehicle 1 is lost, importance indexes of the unmanned aerial vehicle 2, the unmanned aerial vehicle 3, the unmanned aerial vehicle 4, the unmanned aerial vehicle 5 and the unmanned aerial vehicle 6 are calculated respectively, the unmanned aerial vehicle 4 is selected as a new leader, and a new unmanned aerial vehicle formation is constructed.
According to the fifth step, a compensation control law of influence on unmanned aerial vehicle formation caused by leader loss is established, and a control parameter matrix is set as follows:. According to the above setting conditions, the controller can calculate the compensation control law of the leader loss on the unmanned aerial vehicle formation +.>。
And D, controlling the unmanned aerial vehicle in the third step in a distributed modeAnd step five, the leader loses the compensation control law of the influence on the unmanned aerial vehicle formation +.>In combination, constitute a robust control law +.>。
Simulation result analysis is shown in fig. 5, and the invention can realize better coordination of unmanned aerial vehicle formation under the condition that a leader is lost. In addition, the method can effectively inhibit the influence of external interference, and has good robustness.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the present invention, the terms "first," "second," "third," "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. The unmanned aerial vehicle formation robust control method for leader loss is characterized by comprising the following steps of:
s1: establishing a directed communication link of unmanned aerial vehicle formation, and determining a leader;
s2: establishing a motion model of the unmanned aerial vehicle;
s3: establishing a distributed control law of the unmanned aerial vehicle according to the motion model of the unmanned aerial vehicle;
s4: when the leader is lost, the leader of the unmanned aerial vehicle formation is determined again, and a new unmanned aerial vehicle formation is constructed;
s5: according to the motion model of the unmanned aerial vehicle established in the step S2 and the new unmanned aerial vehicle formation established in the step S4, establishing a compensation control law for the influence of the loss of the leader on the unmanned aerial vehicle formation;
s6: combining the distributed control law of the unmanned aerial vehicle and the compensation control law of the influence of the loss of a leader on the unmanned aerial vehicle formation to obtain a robust control law, thereby realizing the control on the unmanned aerial vehicle formation;
the S1 specifically comprises the following steps:
s1-1: establishing a directed communication link of unmanned aerial vehicle formation, which is expressed as:
；
wherein,for the set of unmanned aerial vehicle nodes, +.>，/>Numbering unmanned aerial vehicle nodes; unmanned plane node->Unmanned plane node->Information exchange is carried out between the two nodes, namely the two nodes are mutually adjacent nodes,>，/>，/>the edges between neighboring nodes are +.>And->；/>A set of edges between all neighboring nodes in the unmanned aerial vehicle node;
in inertial coordinate systemE Ground (floor) -OXYZIn, unmanned aerial vehicle nodeThe position coordinate vectors of (a) are: />；/>、/>And->Unmanned plane nodes respectively->Coordinates in the X direction, Y direction, and Z direction;
in inertial coordinate systemE Ground (floor) -OXYZIn, unmanned aerial vehicle nodeThe position coordinate vectors of (a) are: />；/>、/>And->Unmanned plane nodes respectively->Coordinates in the X direction, Y direction, and Z direction;
s1-2: central node for determining unmanned aerial vehicle formation
If a certain unmanned aerial vehicle node exists in the directed communication link of the unmanned aerial vehicle formation, so that paths from the unmanned aerial vehicle node to all other unmanned aerial vehicle nodes exist, the unmanned aerial vehicle node is a leader in the unmanned aerial vehicle formation; in inertial coordinate systemE Ground (floor) -OXYZIn (3), the position coordinate vector of the leader is，/>、/>And->Coordinates of the leader in the X direction, the Y direction, and the Z direction, respectively;
the step S2 specifically comprises the following steps:
and establishing a motion model of the unmanned aerial vehicle, wherein the motion model is shown in the following formula:
wherein,for unmanned plane node->Position coordinate vector, ">For unmanned plane node->Speed vector of>For unmanned plane node->Acceleration vector of>For unmanned plane node->Control input of +.>For unmanned plane node->Interference factor of->、/>And->Are unmanned plane nodes->Motion model parameters of (2)A number matrix;
the step S3 specifically comprises the following steps:
unmanned plane nodeIs->The method comprises the following steps:
wherein,for unmanned plane node->Correlation coefficient with leader, +.>For the controller gain constant, +.>And->Are unmanned plane nodes->Controller gain matrix,/, of (2)>For unmanned plane node->Deviation from the leader's position; />Is unmanned plane node/>Unmanned plane node->The weight coefficient of the communication is set to be equal to the weight coefficient of the communication,Nfor unmanned plane node->Set of all neighbor node numbers, +.>For unmanned plane node->Unmanned plane node->Position deviation of->For the speed vector of the leader, +.>For unmanned plane node->Deviation from the leader's speed, +.>For unmanned plane node->Speed vector of>Representation of unmanned node->Unmanned plane node->A speed deviation between;
the step S4 specifically comprises the following steps:
s4-1: when the leader is lost, searching the whole unmanned aerial vehicle formation again, and respectively calculating importance indexes of all unmanned aerial vehicle nodes:
wherein,for unmanned plane node->Importance parameter of->For unmanned plane node->Importance index of (2);
s4-2: sequencing all the remaining unmanned aerial vehicle nodes according to importance indexes, selecting the unmanned aerial vehicle node with the largest importance index as a new leader, and reconstructing a directed communication link based on a leader-follower structure to construct a new unmanned aerial vehicle formation;
the compensation control law of the leader loss in the S5 on the unmanned aerial vehicle formation influence is shown as follows:
wherein,loss of a compensating control law for leader influence on unmanned aerial vehicle formation, +.>Is->Is>Is->Is->Auxiliary variable related to acceleration vector, +.>Is->Control parameter matrix, ">Is->Is a derivative of (2);
the robust control law in S6。
2. The unmanned aerial vehicle formation robust control system lost by a leader implements the unmanned aerial vehicle formation robust control method of claim 1, and is characterized by comprising a distributed control law module, a leader generation module, a compensation control module and a robust control module, wherein the compensation control module and the robust control module have influence on unmanned aerial vehicle formation due to the loss of the leader.
3. The unmanned aerial vehicle formation robust control system of claim 2, wherein,
the distributed control law module is used for controlling unmanned aerial vehicle formation cooperative flight without leader loss;
the leader generation module is used for searching for optimization under the condition that the leader is lost so as to reselect the leader formed by the unmanned aerial vehicle;
the compensation control module is used for generating a compensation control law to inhibit the influence of external interference and the influence of the loss interference of the leader on the unmanned aerial vehicle formation;
and the robust control module is used for fusing the control inputs of the distributed control law module and the compensation control module which is used for losing the influence on the formation of the unmanned aerial vehicle by the leader.
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