多无人机协同探测快速目标的控制方法设计

doi:10.12305/j.issn.1001-506X.2021.11.30

Abstract

Abstract:

Aiming at the problem of unmannd aerial vehicle (UAV) cooperative detection of fast moving target, a multi-UAV cooperative detection control algorithm is designed. Firstly, assuming that each UAV carries the same detection load, and a cooperative detection formation for fast moving targets was designed according to the load characteristics. Then, fixed-time control consistency protocol is introduced into the UAV load angle control to control the load to irradiate the target continuously; finite-time consistency protocol is introduced into the UAV formation control to form the cooperative detection formation and speed up the convergence of the formation through two-hop network. Through the combination of UAV formation control and UAV load angle control, the detection time of fast moving target is maximized, and the detection time of high-speed moving target is greatly prolonged. Finally, the effectiveness of the control algorithm is proved by the mathematical analysis and the simulation experiment.

Key words: fixed-time consensus protocol, finite-time consensus protocol, cooperative detection, unmannd aerial vehicle (UAV) formation

CLC Number:

V249
V279

Xiaowei FU, Zihao CHEN. Design of control method for multi-UAV cooperative detection of fast target[J]. Systems Engineering and Electronics, 2021, 43(11): 3295-3304.

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参数名或符号	数值
a	1
b	0.5
c	5
s	0.1
t	13

参数名或符号	数值
a₁	0.6
a₂	0.75
v_d/(m/s)	(20, 0)

无人机编号	无人机初始状态
无人机编号	初始位置/m	初始速度(m/s)	载荷初始角度/rad
1	(-160, -0.15)	(0, -15)	-3.14
2	(-155, -8.81)	(0, -15)	-2.09
3	(-145, -8.81)	(0, -15)	-1.05
4	(-140, -0.15)	(0, -15)	0
5	(-145, -8.51)	(0, -15)	1.05
6	(-155, 8.51)	(0, -15)	2.09

Design of control method for multi-UAV cooperative detection of fast target

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