Research On Distributed Control Technology Of Multi-UAV System Based On Triggered Communication Mechanism

Multi-UAV System is the research focus of academia and industry.Swarm is the key research direction of Multi-UAV System and is a hotspot of global high-tech competition.The goal of swarm is to achieve group behavior in nature based on multiple technologies,such as information perception,decision-making,judgment,collaborative control,etc..Communication is the basis of information exchange and collaborative control of multiple UAVs.However,there are constraints such as resource limitation and abnormal condition in the communication environment.In order to reduce the impact of communication constraints on the performance of distributed control algorithms,this paper is to implement distributed control algorithms of group based on the the triggered communication mechanism.The main work and innovations include:(1)A general simulation software framework is proposed for the problem of MultiUAV group control in a restricted environment.This framework is designed based on a modular approach,decomposing research problems into multiple sub-problems,clarifying the overall logical structure,the function of each module,and the flow of data between modules,being the basis to build a simulation environment.Based on this framework and simulation platform,case development can be performed to verify the performance of communication strategies and distributed control algorithms.(2)Design and implement a distributed control method for Multi-UAV formation behavior based on event-triggered communication mechanism.Based on the principle of reducing irrelevant communication,the dynamic event-triggered communication mechanism is studied and applied to the formation distributed control algorithm to achieve the purpose of optimizing communication overhead and ensuring control performance.(3)Design and implement a distributed control method for Multi-UAV flocking based on state estimation and triggered communication mechanism.Based on the historical motion information and calculation model,the estimation model is used to predict the state of an UAV.The hybrid triggered communication strategy is designed based on the state estimation method,and it is applied to the distributed control algorithm of the multiUAV flocking.The goal is to improve the effective utilization of communication resources,to improve the ability to cope with communication abnormal conditions,and to achieve the purpose of optimizing communication overhead and robust control performance.In order to verify the performance of the proposed distributed control algorithm based on the triggered communication mechanism,numerical simulation and simulation experiments are carried out.The results show that,the application of the triggered communication mechanism can significantly reduce the communication overhead compared with the traditional periodic communication mechanism.The number of communications can be reduced by approximately 70% and the group behavioral performance can be guaranteed.