Research On Cooperative Control Of Multiple UAVs Under Network Constraints

In recent years,a variety of new weapons and equipment emerge one after another,among which UAV is the most outstanding performance.Many times of actual combat shows that UAV combat is changing the traditional combat mode.As more and more complex tasks are assigned to them,UAV formation technology has become a new research hotspot.At present,researches on formation of UAVs mainly focus on communication delay,switching topology,formation keeping and formation reconstruction,and the influence of communication network on formation control is rarely discussed.Therefore,this paper studies the influence of data packet loss and bandwidth limitation on the formation control of UAVs,and discusses the hazard avoidance of UAVs formation under the condition of small communication bandwidth.Firstly,the discrete control system of UAV formation under ideal conditions is established based on graph theory and consistency theory.By analyzing the communication state of formation at different times under Bernoulli packet loss condition,the network communication topology of formation at that time is obtained,and then the closed-loop control system model of formation at that time is obtained.In combination with Lyapunov’s stability criterion theorem,the conditions of the system’s mean square stability under Bernoulli packet loss condition are given and proved.Then,the quantification of UAV state information with limited bandwidth is studied.Based on a uniform quantizer with adjustable parameters,the system quantizer is not saturated by dynamically increasing the parameters of the quantizer.Then,with the change of system state,the parameter is reduced again,so that the quantization error tends to zero,so as to realize the gradual stability of formation.Finally,the problem of UAV avoiding danger is studied under the condition of small communication bandwidth.On the premise of ensuring the formation stability,the shortest communication topology structure of UAV formation is given to minimize the communication bandwidth required between formations.Then the complex battlefield environment of formation flight is simulated by setting up different danger areas and different types of threat sources.Based on the improved artificial potential field method and combined with the different characteristics of threat sources,the corresponding avoidance strategies of formation are given.Finally,the effectiveness of the algorithm is verified by numerical simulation.