UAV Swarm Formation Reconfiguration Control with Switching Interaction Topologies

doi:10.3969/j.issn.1000-1093.2019.05.012

Abstract

Abstract: Unmanned aerial vehicle (UAV) swarm formation reconfiguration control with switching interaction topologies is investigated. The UAV swarm formation reconfiguration control law is designed based on the consensus theory. In order to make the UAV swarm form a specified formation configuration, the formation reference vector is introduced. The necessary and sufficient conditions for UAV swarm with switching interaction topologies achieving a predefined formation configuration are proposed. Under the condition that the interaction topologies are connected, the UAV swarm system is proved to be asymptotically stable based on the Lyapunov theory, and an approach to design the parameter matrix in the control protocol is proposed based on the algebraic Riccati equation. Numerically simulated results illustrate the efficiency of proposed control protocol. Key

Key words: unmannedaerialvehicle, swarmsystem, switchinginteractiontopology, formationreconfiguration, controlprotocol

CLC Number:

V279⁺.2

LIU Liu, LIANG Xiaolong, ZHANG Jiaqiang, HE Lülong, HOU Yueqi. UAV Swarm Formation Reconfiguration Control with Switching Interaction Topologies[J]. Acta Armamentarii, 2019, 40(5): 996-1002.

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第40卷第5期
2019 年5月兵工学报ACTA
ARMAMENTARIIVol.40No.5May2019

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