通讯受限下无人机集群自适应追踪控制

doi:10.12305/j.issn.1001-506X.2025.10.24

Abstract

Abstract:

One of the largest sources of error affecting the tracking effect of unmanned aerial vehicle （UAV） swarms is communication overload, so the real-time quantization processing of communication overload directly affects the cluster tracking performance. Firstly, for agile tracking of time-sensitive targets by unmanned cluster formation, a quantized adaptive control method is proposed, which is able to realize that the cluster maintains the preset tracking effect with communication constraints. Secondly, considering a class of high-order nonlinear systems with unknown parameters, a cluster formation model is established, and quantization theory is introduced. Thirdly, for the UAV cluster model, the variable transformation idea is used to obtain the cluster model with integrity constraints, and combined with backstepping technique, UAV cluster tracking control law is designed, and the unknown parameters of the model are updated in real-time. Then, the proposed method is compared and analyzed with sliding mode control and dynamic surface control in simulation, and the quantitative characteristics are discussed and analyzed at the same time. Finally, the validity and rationality of the designed controller are verified by Lyapunov stability theory and UAV prototype simulation experiments, and the proposed method has a guiding significance for engineering application.

Key words: communication constraint, unmanned aerial vehicle (UAV) swarm formation, time-vary trajectory, tracking control strategy, desired formation shape

CLC Number:

Jialong ZHANG, Di ZHAO, Pu ZHANG, Lei YE. Adaptive tracking control for UAV swarm with communication constraint[J]. Systems Engineering and Electronics, 2025, 47(10): 3401-3410.

Figures/Tables 12

Fig.1

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Table 1

Related parameters of autopilot model"

无人机	$ \left(x_i(0), y_i(0), z_i(0)\right)$	$ \left( {{\delta _{ix}}\left( t \right),{\delta _{iy}}\left( t \right),{\delta _{iz}}\left( t \right)} \right) $	$ \left(d_{i v}(t), d_{i \theta}(t), \sigma_{i \psi}(t)\right) $
UAV#1	$ \left( { - 1,3.5,0} \right) $	$ \left( {2,2,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - t}}\cos t,1,0} \right) $
UAV#2	$ \left( { - 1,3.6,0} \right) $	$ \left( {0,\tanh (0.5 (t - 20)) - 1,0} \right) $	$ \left( {1.5,{{\mathrm{e}}^{ - t}}\sin (0.5t),0} \right) $
UAV#3	$ \left( { - 1,3.7,0} \right) $	$ \left( { - 1 - \tanh (0.5 (t - 20)),2,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - 2t}},\cos (0.6t),0} \right) $
UAV#4	$ \left( { - 1,3.9,0} \right) $	$ \left( { - 2,\tanh (0.5 (t - 20)) - 3,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - 2t}},\sin (0.6t),0} \right) $
UAV#5	$ \left( { - 1,4.0,0} \right) $	$ \left( { - 1,\tanh (0.5 (t - 20)) - 4,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - 2t}},\cos (0.4t),0} \right) $
UAV#6	$ \left( { - 1,4.1,0} \right) $	$ \left( {1,\tanh (0.5 (t - 20)) - 2,0} \right) $	$ \left( {\cos (0.6t), - {{\mathrm{e}}^{ - 2t}},0} \right) $
UAV#7	$ \left( { - 1,4.2,0} \right) $	$ \left( { - 1,\tanh (0.5 (t - 20)) - 5,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - t}},\sin (0.8t),0} \right) $
UAV#8	$ \left( { - 1,4.3,0} \right) $	$ \left( { - 1,\tanh (0.5 (t - 20)) - 6,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - t}},\sin (0.6t),0} \right) $
UAV#9	$ \left( { - 1,4.8,0} \right) $	$ \left( { - 1,\tanh (0.5 (t - 20)) - 7,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - t}},\sin (0.4t),0} \right) $
UAV#10	$ \left( { - 1,5.0,0} \right) $	$ \left( { - 1,\tanh (0.5 (t - 20)) - 7.5,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - t}},\sin (0.2t),0} \right) $
UAV#11	$ \left( { - 1,5.2,0} \right) $	$ \left( { - 1,\tanh (0.5 (t - 20)) - 8,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - t}},\sin (1.2t),0} \right) $
UAV#12	$ \left( { - 1,5.4,0} \right) $	$ \left( { - 1,\tanh (0.5 (t - 20)) - 8.4,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - t}},\sin (1.4t),0} \right) $
UAV#13	$ \left( { - 1,5.6,0} \right) $	$ \left( { - 1,\tanh (0.5 (t - 20)) - 2.5,0} \right) $	$ \left( { - {{\mathrm{e}}^{ - t}},\sin (1.6t),0} \right) $

Table 1

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Adaptive tracking control for UAV swarm with communication constraint

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