Research On Multi-Uav Cooperative Control Technology For Communication And Motion Constraints

Cooperative control,as the core technology of multi-UAV cluster operation,can improve the efficiency of UAV tasks through mutual communication between individuals.With the continuous increase of the swarm scale and the rapid increase in the amount of transmitted data,communication constraints such as limited channel resources,communica-tion delay,and data packet dropout have become a key factor affecting the cooperative control of multiple UAVs in the real environment.However,the existing research usually assumes an ideal communication environment and seldom considers the impact of communication constraints.At the same time,the practical application of cooperative control technology will be restricted by conditions such as limited motion.For example,the flight speed required by the control technology exceeds the maximum speed of the UAV.Therefore,how to design a cooperative control scheme available under the condition of limited motion is a problem that needs to be solved.At the same time,collaborative control technology will be restricted by conditions such as movement restriction in practical applications.For example,the flight speed required by the control technology exceeds the maximum speed of the UAV.Therefore,how to design the available collaborative control scheme under motion constraints is a problem to be solved.In this paper,multi-UAV collaboration is studied from two aspects of communication constraints and movement restriction.The main contents and research results of this paper are as follows:(1)Aiming at the problem that communication constraints affect multi-UAV coordination,a joint analysis of control communication performance is carried out.For the first-order integrator multi-UAV system,under the condition of Rician fading communication channel,the control performance and communication performance are analyzed jointly,and the theoretical relationship between the second-order moment stability and the expected channel capacity is derived.It is proved that the second-order moment stability of the system is a sufficient condition for the existence of a lower bound on the expected channel capacity,and the expression of the lower bound is given,.indicating that to improve the control performance,it is necessary to increase the channel capacity.Simulation results verify the theoretical analysis.(2)Considering the restriction of motion constraints on cooperative control applications,inspired by the flocking behavior of birds,a cooperative control method based on switching strategy is designed.Firstly,the flocking behavior of birds is analyzed and modeled,and a multi-UAV cooperative control method is designed based on the switching strategy exhibited by flocking behavior.Then,the system stability is analyzed based on Gersgorin’s disc theorem and Lyapunov stability theory.It is proved that the control input of this method is bounded,which can ensure that the speed of the UAV meets the requirements of the control method,and the UAV system can achieve coordination.Finally,MATLAB simulation is used to verify the effectiveness of the control method.