Research On Distributed Cooperative Control For Swarm UAVs

In recent years, inspired by biological Swarm Intelligence, swarm roboties,a new research field,has been emerged. Swarm UAVs is a Swarm systems compose by a group of Unmanned aerial Vehicles. Compared with the tranditional multi-UAVs systems, Swarm UAVs own the unique advantages, such as robustness, scalability,flexibility and low cost, so it has extensive application prospects. In this thesis, the cooperative control of Swarm UAVs is studied for aggregating, consensus and flocking.Firstly, the aggregation problem of Swarm UAVs is studied. The aggregating model for swarm is proposed based on artificial potential field. Using LaSalle invariance principle, it is proved that each UAV will achieve the final aggregation if communication topology graph is connected.Then we analyzed the aggregating state of a class of swarm system which communication topology graph is connected completely. It is proved that all the UAV of swarm will be assembled to a Spherical regin within a limited time by stability theory in the role of control law designed. The theorem to be proposed is verified through simulation.In addition, the consensus problem of Swarm UAVs is studied. The consensus algorithm of Swarm UAVs is proposed when communication time-delay exist. Stability analysis is performed based on Lyapunov-Krasovskii functional method and stability condition in terms of linear matix inequalities (LMI) is derived for consensus algorithm of delayed Swarm UAVs system. The formation control algorithm with virtual leader is proposed based on consensus algorithm. It is proved that the group of UAVs can achived formation and follow with virtual leader by using consensus theory.Lastly, the flocking control of Swarm UAVs is studied in case of free space or space existed obstalce. In free flight space, the smooth flocking control algorithm is proposed for swarm systems with dynamic topology and virtual leader, we apply LaSalle invariance principle to prove that the UAVs achieve flocking flight in role of control algorithm. In flight space exised obstacle, we proposed the algorithm which can achieve flocking and avoid obstacle. The correctness of theorems and the effectiveness of algorithm is verified in simulation.