Research On Distributed Formation Control Of Heterogeneous UAV Swarms Based On Event Triggering

According to the current shortcomings of homogeneous UAVs with single structure and limited functions,heterogeneous formations do not need to install equipment with repetitive functions on UAVs to reduce costs,and can perform different tasks according to endurance and flexibility.According to the current centralized control methods commonly used in heterogeneous unmanned aerial vehicle formation have the disadvantages of poor real-time,complex algorithms and poor stability.Heterogeneous UAV systems still have low cost and limited bandwidth limitations.So,the event triggering mechanism is introduced and a distributed optimization algorithm under the event triggering mechanism is given.The algorithm can effectively reduce the energy dissipation in the communication and calculation links in the formation process by reducing the update times of the controller,thereby solving the problems of limited bandwidth,large amount of communication traffic and the low computational power of controller.The main research contents of this paper are as follows.First of all,the graph theory and the property theorem of the correlation matrix are given.The dynamic system equations of heterogeneous UAVs are established,thereby the related concepts of the consistency of heterogeneous UAV systems are proposed,and the event triggering control strategy is introduced to establish the theoretical basis.Secondly,a continuous distributed formation algorithm is designed for the heterogeneous UAV cluster,and the UAV controller is updated every fixed frequency,but this method has a large amount of communication traffic.Therefore,the event triggering mechanism is introduced,and the event triggering distributed formation algorithm is designed,and a controller that does not need to rely on global state information is designed for the follower UAVs in the formation system.Each UAV in the formation system has a different event triggering time.Through Lyapunov stability analysis of the formation system,a suitable event triggering function and event triggering conditions are designed.The event triggering condition is only related to the status information of the UAV itself and its neighbors,and the next event triggering time of the UAV can be calculated from the status of the previous trigger time.Finally,the proposed algorithm is applied to the MATLAB simulation environment for simulation verification.The simulation results verify the effectiveness of the proposed algorithm,and the designed event triggering conditions ensure that the system does not exist Zeno behavior.Besides,select F450 quadrotors and ZD850 Six-Rotor UAVs as the research objects,and experiments are carried out by building an experimental platform,and the rationality of the algorithm is proved through experiments and the introduction of event triggering mechanism can effectively reduce the number of controller updates in the UAV cluster,and reduce the communication traffic and energy dissipation.