Research On The Problem Of UAV Formation Control Under Complex Conditions

As the field of UAV use continues to broaden,UAV research has entered the stage of performing complex missions in formation,requiring increasingly sophisticated and complex formation route planning and control to suit complex application scenarios.When performing tasks such as aerial refuelling,long-distance formation transport,high-precision positioning and multi-angle imaging,the formation stability of UAV formations under communication constraints,collision avoidance within the formation,as well as the timing and deadlock problems of performing tasks,must be considered.This paper takes fixed-wing UAV formation as the research object,considers the common complexity constraints in the formation flight environment,and conducts theoretical research and simulation analysis based on consistency algorithms,pre-defined performance control methods and genetic algorithms for communication constraints,UAV collision problems and mission planning problems,respectively:Translated with www.Deep L.com/Translator(free version)(1)For the UAV formation consistency problem in the presence of communication constraints,this paper proposes a consistency formation algorithm that can eliminate communication time lag and communication noise.The UAV model is transformed into a second-order integral system,and based on matrix theory,the influence of factors such as input time delay and communication time delay on the convergence and steady-state accuracy of the algorithm is analysed.Using Hopf bifurcation control theory to solve for an upper bound on the input delay that ensures consistent convergence of the system,a double integral consistency algorithm for UAV formation with both communication delay and input delay is proposed.By introducing a noise suppression function into the consistent formation algorithm,the influence of communication noise on the control accuracy of the second-order UAV formation system is eliminated.In order to verify the proposed method,simulation experiments are designed and completed to demonstrate the effectiveness of the proposed method.(2)To address the UAV collision problem that may arise during formation flight,this paper designs a UAV collision avoidance formation controller based on pre-defined performance control theory.A cascade form of formation control model is established based on the relative motion model of the leader and slave aircraft formation.This paper proposes a method that can determine the error boundaries and temporary formation positions in the pre-determined performance controller by the initial position of the UAVs in the formation,the safe distance between the aircraft and the expected formation position,and uses the inverse idea to design a formation controller that can form a formation while avoiding UAV collisions.It is demonstrated through simulation that the designed formation controller can achieve the control objective of UAV formation collision avoidance.(3)To address the formation mission planning problem under the scenario of suppression of enemy anti-aircraft fire,this paper carries out modelling,algorithm design and simulation analysis of the collaborative mission planning problem.A mission planning optimization model is constructed by fully considering the constraints of heterogeneous UAV formations in terms of mission execution capability,execution timing and their own kinematics.Taking mission execution time and overall attack gain as comprehensive performance indicators,a multi-type genetic chromosome genetic algorithm is designed,which can avoid deadlock problems compared with existing algorithms.Finally,the method is validated by simulation and compared with existing methods to verify that the algorithm proposed in this paper can achieve a more efficient solution to the formation task planning problem.