TY - GEN
T1 - Mission Planning and Synchronous Coupling Formation Control Algorithm Design for Multiple UAVs
AU - Huang, Hanqiao
AU - Bai, Yu
AU - Zhang, Di
AU - Fu, Wenxing
AU - Bao, Ran
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - In order to improve the success rate of multi-UAVs missions, efficient multi-UAVs cruise, tracking and attack formations must be designed. This paper takes one of the expected cruise formations as an example, and an effective distributed cooperative formation control method is proposed for the multiple UAVs system subject to directed fixed topology and external disturbances. The objective is to design the formation's position, speed and heading angle such that the states of multi-UAVs system reach consensus. Firstly, an adaptive RBF (Radial Basis Function) neural network is designed to approximate the external disturbance of the system, and achieves a good fitting effect. Secondly, the synchronous coupling method is adopted to solve the problem that the states of the UAV and its neighbor UAVs cannot be synchronously matched. Finally, through simulations of five drones, we can see that the speed, height, heading angle of all UAVs can converge in a short time and maintain the assigned formation.
AB - In order to improve the success rate of multi-UAVs missions, efficient multi-UAVs cruise, tracking and attack formations must be designed. This paper takes one of the expected cruise formations as an example, and an effective distributed cooperative formation control method is proposed for the multiple UAVs system subject to directed fixed topology and external disturbances. The objective is to design the formation's position, speed and heading angle such that the states of multi-UAVs system reach consensus. Firstly, an adaptive RBF (Radial Basis Function) neural network is designed to approximate the external disturbance of the system, and achieves a good fitting effect. Secondly, the synchronous coupling method is adopted to solve the problem that the states of the UAV and its neighbor UAVs cannot be synchronously matched. Finally, through simulations of five drones, we can see that the speed, height, heading angle of all UAVs can converge in a short time and maintain the assigned formation.
KW - Consistency theory
KW - Formation control
KW - Mission planning
KW - Multiple UAVs
KW - Synchronous coupling algorithm
UR - https://www.scopus.com/pages/publications/85130870434
U2 - 10.1007/978-981-16-9492-9_344
DO - 10.1007/978-981-16-9492-9_344
M3 - 会议稿件
AN - SCOPUS:85130870434
SN - 9789811694912
T3 - Lecture Notes in Electrical Engineering
SP - 3486
EP - 3496
BT - Proceedings of 2021 International Conference on Autonomous Unmanned Systems, ICAUS 2021
A2 - Wu, Meiping
A2 - Niu, Yifeng
A2 - Gu, Mancang
A2 - Cheng, Jin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Autonomous Unmanned Systems, ICAUS 2021
Y2 - 24 September 2021 through 26 September 2021
ER -