Research Of Cooperative Control Based On Multiple Uavs Secure Communication Distance

Along with the increase of UAVs, the cooperative control method of UAVs is more complicated. In recent years, swarm intelligent control algorithm inspired by biological community has been applied to the field of Multiple UAVs cooperative control. It’s widely known that the effectiveness of cooperative control UAVs highly depends on the performance of communication. UAVs network has the feature of dynamism, rapid changing topology,which increases the complexity of the UAVs network topology.According to the secure communications problems appearing in UAVs system, the cooperative control method based on swarm flocking algorithm is studied in this paper. The main work is as follows:Firstly, through analyzing and summarizing the used UAVs’ network technology and model, the topology model and dynamic model related to communication range of UAVs is established by graph theory, and some classical models of flocking algorithm is introduced.Then, for the UAVs tracking target with variable velocity in practical application, by adding the navigation input track item of virtual leader with variable velocity, the Olfati-saber flocking algorithm based on virtual leader with fixed velocity is improved, and the stability analysis of improved algorithm is given. Through comparison of experiments, the improved algorithm can make UAV track the velocity of virtual leader more accurately.At last, the distributed cooperative control method of multi UAVs’ secure communications problem is obtained through researching the relationship of UAVs group communication range and distance between every two UAVs. The method is based on the improved flocking algorithm mentioned above, introduced virtual communication annulus,and improved desired location mobile function, then the anticipant position is reached, which meeting the requirements of secure communication distance of UAVs. The convergence and effectiveness of this method is proved by some contrast experiments, through using tools MATLAB and NS2 to simulate UAVs’ movements based on AODV/OLSR protocols. Thedistributed cooperative control method is an effective method to solve UAVs’ secure communication problem.