Research On Robust Control Of UAV Formation Security Tracking Under Communication Constraints

With the continuous improvement of automatic control technology,the research and application of unmanned aerial vehicles(UAVs)have shown a rapid development trend.The advantages of low cost and flexible reliability of individual UAVs make them widely used in military,logistics,and aerial photography fields.UAV formation cooperation can further meet the needs of various complex tasks.However,during the execution of UAV formation tasks,communication constraints and internal collision problems exist in the formation network due to the task environment and hardware and software equipment,which affects the performance of UAV formation in completing complex tasks,and requires corresponding solutions.Therefore,this thesis focuses on the research of safety tracking robust control of UAV formation under communication constraints.The main research contents are as follows:First,aiming at the problem of transmission delay in UAV formation communication network,a distributed robust tracking control strategy is designed.Firstly,considering the influence of external interference,the UAV formation control model is established.Secondly,a control algorithm with transmission delay is designed based on the directed network topology.At the same time,_∞performance index is introduced to improve the robustness of UAV formation cooperative tracking under communication constraints.Finally,the effectiveness of the proposed cooperative tracking control strategy is verified by simulation.Second,the cooperative control method of UAV formation under internal collision problem is studied.First,a cooperative control model of drone formations is constructed.Next,to address the obstacle avoidance issue within the system,a motion obstacle avoidance scheme for the formation is proposed.This scheme defines the motion ranges of each drone in the formation to ensure that the motion trajectories of all drones remain within their respective pre-defined areas.Then,a distributed performance function is designed and a state auxiliary variable based on the directed topology network structure of adjacent information in the drone formation is developed.A distributed safety tracking control scheme is proposed to achieve both the formation motion and internal obstacle avoidance.Finally,the effectiveness of the proposed control scheme is demonstrated by simulation results.