Decentralized Formation Control Of Multiple UAVs

Due to UAVs’ flexible movement ability in three-dimensional space,they are now widely used in industrial fields,such as inspection.However,UAVs’ operational efficiency is still limited due to current technology such as their battery life and intelligence level.Fortunately UAV swarm systems are expected to overcome the limitations of individual UAV operational effectiveness.This study optimizes the design of UAV ontology and communication architecture to support the deployment of distributed control algorithms for multiple UAVs for typical mission scenarios.Then,the consensus control of the second-order system was designed and verified for the UAV secondorder system dynamics.Meanwhile,the collision avoidance control unit is deployed based on the kinematic properties of multiple UAVs.For the task requirement of changing formation,the role assignment algorithm is designed,and its effectiveness is derived and verified.The research contents and innovative results of this paper are as follows.(1)Distributed UAV swarm system integration.For the task scenarios,the UAV body design is optimized,and the complete perception and communication modules are configured on the UAV body with a total weight of less than 1 kg.A single UAV can support the basic intelligent control algorithm.And the communication link based on UWB(Ultra Wide Band)can guarantee multiple UAVs to build a dynamic topology.(2)Second-order system consensus theory verification.The consensus theory of second-order swarm system is derived and verified.The consensus algorithm of UAV is verified using the distributed autonomous UAV swarm system.The consensus convergence of the swarm system under the individual function integrity of the swarm system is proved.The consensus convergence of the swarm system under particular failure is verified according to the distributed algorithm’s characteristics.(3)UAV Formation Transformation,and Role Assignment.Based on the consensus theory,the proposed formation control method with a shape description is offered.For the task requirements of formation transformation,a role assignment algorithm based on the Hungarian algorithm is designed and experimentally verified,and analyzed on a distributed autonomous UAV swarm system.In summary,this study designed and build a decentralized UAV swarm system with dynamic topological networking,then designed and experimentally verified some distributed formation control algorithms based on consensus theory.