Cooperative Control Of UAV Formation Network Under Communication Constraints

With high reliability,high autonomy and strong expandability,UAV formations can accomplish tasks such as intelligence collection,surveillance targets,power inspections and logistics distribution,and are widely used in both military and civilian fields.However,data packet dropout during formation network communication due to signal fading and network congestion,and external disturbance consisting of other uncertainties such as wind can also negatively affect formation quality.In thesis,cooperative UAV formation tracking control under network communication constraints is studied,with specific work including:The distributed cooperative UAV formation tracking control problem under directed topology and data packet loss is studied,and a model predictive control algorithm with control input adjustment term is proposed to achieve cooperative UAV formation tracking.Firstly,a discrete time leaderfollower cooperative tracking control model is established.Secondly,the auxiliary variables of each follower UAV containing data packet dropout are designed to develop a UAV formation tracking error model with packet loss compensation mechanism.Then,combining the model predictive control algorithm with Lyapunov theory,the control sequence to realize the UAV formation is solved.Finally,the stability analysis of the proposed algorithm and the simulation results can verify the follower UAV presents excellent tracking performance in both X-axis and Y-axis.The distributed containment tracking control problem of UAV formation under external disturbance and asymmetric data packet dropout is studied,and a distributed containment tracking strategy based on data packet dropout is proposed.Firstly,to confirm the practical engineering,the external disturbance composed of many time-varying harmonics is estimated by a designed multiple harmonics disturbance observer.Secondly,according to the different data packet dropout probability between any two agents in the containment tracking task,an asymmetric packet dropout compensation strategy with the topology matrix is proposed for the disturbance-observer-based distributed containment tracking control scheme designing.By figuring out a series of linear matrix inequalities,the disturbance observer and containment tracking controller gains are obtained.The final simulation results show all follower UAVs are distributed into a convex hull surrounded by leader UAVs and the tracking error converges rapidly to a bounded range.