Research On UAVs Formation Reconfiguration Algorithm

In recent wars, with the continuous improvement of the autonomous capabilities of the UAV, it extends the traditional concept of war mode and appears to be more and more important in reconnaissance, surveillance, ground attack, battlefield situation assessment and other difficult military operations. The UAV formation control technology is proposed and the reconfiguration of UAV formation is one of the important research contents in the field of formation control. This thesis discusses the algorithm of the reconfiguration of UAV formation which is based on the consensus theory. The UAV formation anti-collision and obstacle avoidance coordinated control problems are studied at the same time. The main research work and content as follows:Firstly, the UAV formation distributed control methods are studied and analyzed, and the consistency of the theory is discussed, including the basis of graph theory, the correlation matrix and the stability control. Two basic algorithms are given to solve the consistency problem in the network of continuous multi-agent. Then the structure and design of UAV formation, transfer of axes and information interaction topology are studied. The UAV dynamics equation is established and simplified to a two order inertia model.Secondly, according to the adjacency matrix and Laplacian matrix defined in the graph theory and their related properties, describing the communication topological relations among the UAV formation. Based on the consensus theory, formation reconfiguration consensus control algorithm for the communication with time delay is given, then the stability of the algorithm is analyzed by using the Lyapunov-Krasosvskii function. The sufficient condition for the stability of this system is given. By computer simulation, the algorithm is verified effectively.Finally, the cooperative control of anti-collision and collision avoidance for UAV formation is studied. By constructing a reasonable and effective potential energy function realize anti-collision between UAVs. Then the model and algorithm of UAV formation collision avoidance based on point intelligence is proposed. The point intelligence and the use of this method are defined also. The computer simulation results verify the effectiveness of these control strategy.