The network performance and the unmanned aerial vehicle(UAV)number are important objectives when UAVs are placed as communication relays to enhance the multi-agent information exchange.The problem is a non-determinist...The network performance and the unmanned aerial vehicle(UAV)number are important objectives when UAVs are placed as communication relays to enhance the multi-agent information exchange.The problem is a non-deterministic polynomial hard(NP-hard)multi-objective optimization problem,instead of generating a Pareto solution,this work focuses on considering both objectives at the same level so as to achieve a balanced solution between them.Based on the property that agents connected to the same UAV are a cluster,two clustering-based algorithms,M-K-means(MKM)and modified fast search and find density of peaks(MFSFDP)methods,are first proposed.Since the former algorithm requires too much computational time and the latter one requires too many relays,an algorithm for the balanced network performance and relay number(BPN)is proposed by discretizing the area to avoid missing the optimal relay positions and defining a new local density function to reflect the network performance metric.Simulation results demonstrate that the proposed algorithms are feasible and effective.Comparisons between these algorithms show that the BPN algorithm uses fewer relay UAVs than the MFSFDP and classic set-covering based algorithm,and its computational time is far less than the MKM algorithm.展开更多
The main contribution of this paper is the design of an event-triggered formation control for leader-following consensus in second-order multi-agent systems(MASs)under communication faults.All the agents must follow t...The main contribution of this paper is the design of an event-triggered formation control for leader-following consensus in second-order multi-agent systems(MASs)under communication faults.All the agents must follow the trajectories of a virtual leader despite communication faults considered as smooth time-varying delays dependent on the distance between the agents.Linear matrix inequalities(LMIs)-based conditions are obtained to synthesize a controller gain that guarantees stability of the synchronization error.Based on the closed-loop system,an event-triggered mechanism is designed to reduce the control law update and information exchange in order to reduce energy consumption.The proposed approach is implemented in a real platform of a fleet of unmanned aerial vehicles(UAVs)under communication faults.A comparison between a state-of-the-art technique and the proposed technique has been provided,demonstrating the performance improvement brought by the proposed approach.展开更多
The command tracking problem of formation flight control system(FFCS)for multiple unmanned aerial vehicles(UAVs)with sensor faults is discussed.And the objective of the addressed control problem is to design a robust ...The command tracking problem of formation flight control system(FFCS)for multiple unmanned aerial vehicles(UAVs)with sensor faults is discussed.And the objective of the addressed control problem is to design a robust fault tolerant tracking controller such that,for the disturbances and sensor faults,the closed-loop system is asymptotically stable with a given disturbance attenuation level.A robust fault tolerant tracking control scheme,combining an observer with H∞ performance,is proposed.Furthermore,it is proved that the designed controller can guarantee asymptotic stability of FFCS despite sensor faults.Finally,a simulation of two UAV formations is employed to demonstrate the effectiveness of the proposed approach.展开更多
In recent times,sixth generation(6G)communication technologies have become a hot research topic because of maximum throughput and low delay services for mobile users.It encompasses several heterogeneous resource and c...In recent times,sixth generation(6G)communication technologies have become a hot research topic because of maximum throughput and low delay services for mobile users.It encompasses several heterogeneous resource and communication standard in ensuring incessant availability of service.At the same time,the development of 6G enables the Unmanned Aerial Vehicles(UAVs)in offering cost and time-efficient solution to several applications like healthcare,surveillance,disaster management,etc.In UAV networks,energy efficiency and data collection are considered the major process for high quality network communication.But these procedures are found to be challenging because of maximum mobility,unstable links,dynamic topology,and energy restricted UAVs.These issues are solved by the use of artificial intelligence(AI)and energy efficient clustering techniques for UAVs in the 6G environment.With this inspiration,this work designs an artificial intelligence enabled cooperative cluster-based data collection technique for unmanned aerial vehicles(AECCDC-UAV)in 6G environment.The proposed AECCDC-UAV technique purposes for dividing the UAV network as to different clusters and allocate a cluster head(CH)to each cluster in such a way that the energy consumption(ECM)gets minimized.The presented AECCDC-UAV technique involves a quasi-oppositional shuffled shepherd optimization(QOSSO)algorithm for selecting the CHs and construct clusters.The QOSSO algorithm derives a fitness function involving three input parameters residual energy of UAVs,distance to neighboring UAVs,and degree of UAVs.The performance of the AECCDC-UAV technique is validated in many aspects and the obtained experimental values demonstration promising results over the recent state of art methods.展开更多
A tight formation of unmanned aerial vehicles(UAVs) has many advantages, such as fuel saving and deceiving enemy radar during battlefield entry. As a result, research on UAVs in close formation has received much atten...A tight formation of unmanned aerial vehicles(UAVs) has many advantages, such as fuel saving and deceiving enemy radar during battlefield entry. As a result, research on UAVs in close formation has received much attention, and the controller design for formation holding has become a popular research topic in the control field. However, there are many unknown disturbances in tight formation, and the tail aircraft is disturbed by the wake. This paper establishes a mathematical model of wake vortices for tail aircraft that considers uncertainty and strong interference. Two UAVs are simulated by Computational Fluid Dynamics software, followed by the design of a semiphysical simulation model predictive control(MPC) scheme that suppresses uncertainty and interference sufficiently to enable the tail aircraft to accurately track the lead aircraft and maintain a stable, tight formation. The tight formation controller is verified by numerical simulation and semiphysical simulation. The results show that the designed controller has an excellent control effect in the case of disturbance caused by the wake vortex.展开更多
Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanne...Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanned aerial vehicles(multi-UAV) is proposed based on consensus, aiming at maintaining a specified geometric configuration. A formation control algorithm with guidance and corresponding flight controllers is given, managing position and attitude, respectively. In order to follow a three-dimensional predefined flight path, by introducing the tracking orders as reference states into the consensus, the formation control algorithm is designed, following the predefined flight path and maintaining geometric configuration simultaneously. The flight controllers are constructed by nonlinear dynamic inverse, including attitude design and velocity design. With the whole system composed of a nonlinear six-degree-of-freedom UAV model, the formation control algorithm and the flight controllers, the formation keeping strategy is closed loop and with full states. In simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the proposed strategy.展开更多
This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity a...This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity and ratios of distances for a target configuration.In particular,it is investigated that the quad-rotor UAVs are steered to track a reference linear velocity while maintaining a desired three-dimensional target formation.Firstly,by integrating the properties of the affine transformation and the stress matrix,the design of the target formation is convenient and applicable for various three-dimensional geometric patterns.Secondly,a distributed control method is proposed under a hierarchical framework.By introducing an intermediary control input for each quad-rotor UAV in the position loop,the necessary thrust input and the desired attitude are extracted.In the attitude loop,the desired attitude represented by the unit quaternion is tracked by the designed torque input.Both conditions of linear velocity unavailability and mutual collision avoidance are also tackled.In terms of Lyapunov theory,it is prooved that the overall closed-loop error system is asymptotically stable.Finally,two illustrative examples are simulated to validate the effectiveness of the proposed theoretical results.展开更多
Sensor nodes cannot directly communicate with the distant unmanned aerial vehicle( UAV) for their low transmission power. Distributed collaborative beamforming from sensor nodes within a cluster is proposed to provide...Sensor nodes cannot directly communicate with the distant unmanned aerial vehicle( UAV) for their low transmission power. Distributed collaborative beamforming from sensor nodes within a cluster is proposed to provide high speed data transmission to the distant UAV. The bit error ratio( BER) closed-form expression of distributed collaborative beamforming transmission with mobile sensor nodes has been derived. Furthermore,based on the theoretical BER analysis and the numerical results,we have analyzed the impacts of nodes 'mobility,number of sensor nodes,transmission power and the elevation angle of UAV on the BER performance of collaborative beamforming. And we come to the following conclusions: the mobility of sensor nodes largely decreases the BER performance; when the position deviation radius is large,incensement in power cannot improve BER anymore; the size of cluster should be bigger than 10 for the purpose of achieving good BER performance in Rayleigh fading channel.展开更多
The unmanned aerial vehicle(UAV)self-organizing network is composed of multiple UAVs with autonomous capabilities according to a certain structure and scale,which can quickly and accurately complete complex tasks such...The unmanned aerial vehicle(UAV)self-organizing network is composed of multiple UAVs with autonomous capabilities according to a certain structure and scale,which can quickly and accurately complete complex tasks such as path planning,situational awareness,and information transmission.Due to the openness of the network,the UAV cluster is more vulnerable to passive eavesdropping,active interference,and other attacks,which makes the system face serious security threats.This paper proposes a Blockchain-Based Data Acquisition(BDA)scheme with privacy protection to address the data privacy and identity authentication problems in the UAV-assisted data acquisition scenario.Each UAV cluster has an aggregate unmanned aerial vehicle(AGV)that can batch-verify the acquisition reports within its administrative domain.After successful verification,AGV adds its signcrypted ciphertext to the aggregation and uploads it to the blockchain for storage.There are two chains in the blockchain that store the public key information of registered entities and the aggregated reports,respectively.The security analysis shows that theBDAconstruction can protect the privacy and authenticity of acquisition data,and effectively resist a malicious key generation center and the public-key substitution attack.It also provides unforgeability to acquisition reports under the Elliptic Curve Discrete Logarithm Problem(ECDLP)assumption.The performance analysis demonstrates that compared with other schemes,the proposed BDA construction has lower computational complexity and is more suitable for the UAV cluster network with limited computing power and storage capacity.展开更多
This paper proposes the nonlinear direct data-driven control from theoretical analysis and practical engineering,i.e.,unmanned aerial vehicle(UAV)formation flight system.Firstly,from the theoretical point of view,cons...This paper proposes the nonlinear direct data-driven control from theoretical analysis and practical engineering,i.e.,unmanned aerial vehicle(UAV)formation flight system.Firstly,from the theoretical point of view,consider one nonlinear closedloop system with a nonlinear plant and nonlinear feed-forward controller simultaneously.To avoid the complex identification process for that nonlinear plant,a nonlinear direct data-driven control strategy is proposed to design that nonlinear feed-forward controller only through the input-output measured data sequence directly,whose detailed explicit forms are model inverse method and approximated analysis method.Secondly,from the practical point of view,after reviewing the UAV formation flight system,nonlinear direct data-driven control is applied in designing the formation controller,so that the followers can track the leader’s desired trajectory during one small time instant only through solving one data fitting problem.Since most natural phenomena have nonlinear properties,the direct method must be the better one.Corresponding system identification and control algorithms are required to be proposed for those nonlinear systems,and the direct nonlinear controller design is the purpose of this paper.展开更多
无人飞行器(unmanned aerial vehicle,UAV)自组网的路由研究多以性能指标出发、忽略无人飞行器网络的任务驱动性,与实际需求动态耦合弱、适用性不强。针对该问题基于无人飞行器多任务网络提出了面向任务的无人飞行器联盟组网架构,提出...无人飞行器(unmanned aerial vehicle,UAV)自组网的路由研究多以性能指标出发、忽略无人飞行器网络的任务驱动性,与实际需求动态耦合弱、适用性不强。针对该问题基于无人飞行器多任务网络提出了面向任务的无人飞行器联盟组网架构,提出了无人飞行器联盟的任务自适应优化链路状态路由协议(task adaptive optimized link state routing,TA-OLSR)。基于模糊逻辑设计拓扑稳定度计算方法,利用拓扑稳定度实现TA-OLSR控制消息的自适应广播,同时结合稳定度设计新的多点中继选择策略。仿真结果表明,TA-OLSR算法能从宏观面向任务的角度出发,实现不同任务下的良好自适应性,提升数据包投递率,减少冗余信息传播,降低网络开销,有效提高整体网络性能。展开更多
A novel network control method based on trophallaxis mechanism is applied to the formation flight problem for multiple unmanned aerial vehicles(UAVs).Firstly,the multiple UAVs formation flight system based on trophall...A novel network control method based on trophallaxis mechanism is applied to the formation flight problem for multiple unmanned aerial vehicles(UAVs).Firstly,the multiple UAVs formation flight system based on trophallaxis network control is given.Then,the model of leader-follower formation flight with a virtual leader based on trophallaxis network control is presented,and the influence of time delays on the network performance is analyzed.A particle swarm optimization(PSO)-based formation controller is proposed for solving the leader-follower formation flight system.The proposed method is applied to five UAVs for achieving a 'V' formation,and a series of experimental results show its feasibility and validity.The proposed control algorithm is also a promising control strategy for formation flight of multiple unmanned underwater vehicles(UUVs),unmanned ground vehicles(UGVs),missiles and satellites.展开更多
In this paper,we investigate a formation control problem of multi-agent systems(specifically a group of unmanned aerial vehicles)based on a semi-global leader-following consensus approach with both the leader and the ...In this paper,we investigate a formation control problem of multi-agent systems(specifically a group of unmanned aerial vehicles)based on a semi-global leader-following consensus approach with both the leader and the followers subject to input saturation.Utilizing the low gain feedback design technique,a distributed static control protocol and a distributed adaptive control protocol are constructed.The former solves the problem under an assumption that the communication network is undirected,and it depends on the global information of the graph.For the latter,we relax the undirected graph to directed graph.Moreover,an adaptive updating gain is designed to avoid using the global information of the communication network.It is shown that the consensus protocols can solve the semi-global leader-following consensus problem if the leader agent is globally reachable.The results are verified successfully by both simulation and real flight tests.展开更多
The affine formation tracking problem for fixed-wing unmanned aerial vehicles(UAVs)is considered in this paper,where fixed-wing UAVs are modeled as unicycle-type agents with asymmetrical speed constraints.A group of U...The affine formation tracking problem for fixed-wing unmanned aerial vehicles(UAVs)is considered in this paper,where fixed-wing UAVs are modeled as unicycle-type agents with asymmetrical speed constraints.A group of UAVs are required to generate and track a time-varying target formation obtained by affinely transforming a nominal formation.To handle this problem,a distributed control law based on stress matrix is proposed under the leader-follower control scheme.It is proved,theoretically,that followers can converge to the desired positions and achieve affine transformations while tracking diverse trajectories.Furthermore,a saturated control strategy is proposed to meet the speed constraints of fixed-wing UAVs,and numerical simulations are executed to verify the effectiveness of our proposed affine formation tracking control strategy in improving maneuverability.展开更多
基金the National Natural Science Foundation of China(61573285)。
文摘The network performance and the unmanned aerial vehicle(UAV)number are important objectives when UAVs are placed as communication relays to enhance the multi-agent information exchange.The problem is a non-deterministic polynomial hard(NP-hard)multi-objective optimization problem,instead of generating a Pareto solution,this work focuses on considering both objectives at the same level so as to achieve a balanced solution between them.Based on the property that agents connected to the same UAV are a cluster,two clustering-based algorithms,M-K-means(MKM)and modified fast search and find density of peaks(MFSFDP)methods,are first proposed.Since the former algorithm requires too much computational time and the latter one requires too many relays,an algorithm for the balanced network performance and relay number(BPN)is proposed by discretizing the area to avoid missing the optimal relay positions and defining a new local density function to reflect the network performance metric.Simulation results demonstrate that the proposed algorithms are feasible and effective.Comparisons between these algorithms show that the BPN algorithm uses fewer relay UAVs than the MFSFDP and classic set-covering based algorithm,and its computational time is far less than the MKM algorithm.
文摘The main contribution of this paper is the design of an event-triggered formation control for leader-following consensus in second-order multi-agent systems(MASs)under communication faults.All the agents must follow the trajectories of a virtual leader despite communication faults considered as smooth time-varying delays dependent on the distance between the agents.Linear matrix inequalities(LMIs)-based conditions are obtained to synthesize a controller gain that guarantees stability of the synchronization error.Based on the closed-loop system,an event-triggered mechanism is designed to reduce the control law update and information exchange in order to reduce energy consumption.The proposed approach is implemented in a real platform of a fleet of unmanned aerial vehicles(UAVs)under communication faults.A comparison between a state-of-the-art technique and the proposed technique has been provided,demonstrating the performance improvement brought by the proposed approach.
基金supported in part by the Post Doctoral Research Foundation of Jiangsu Province(No.1701140B)the National Natural Science Foundation of China (No. 61403195)the GF Research and Development Project of the Nanjing Tech Universities(No.201709)
文摘The command tracking problem of formation flight control system(FFCS)for multiple unmanned aerial vehicles(UAVs)with sensor faults is discussed.And the objective of the addressed control problem is to design a robust fault tolerant tracking controller such that,for the disturbances and sensor faults,the closed-loop system is asymptotically stable with a given disturbance attenuation level.A robust fault tolerant tracking control scheme,combining an observer with H∞ performance,is proposed.Furthermore,it is proved that the designed controller can guarantee asymptotic stability of FFCS despite sensor faults.Finally,a simulation of two UAV formations is employed to demonstrate the effectiveness of the proposed approach.
基金This work was supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(No.2021R1F1A1063319).
文摘In recent times,sixth generation(6G)communication technologies have become a hot research topic because of maximum throughput and low delay services for mobile users.It encompasses several heterogeneous resource and communication standard in ensuring incessant availability of service.At the same time,the development of 6G enables the Unmanned Aerial Vehicles(UAVs)in offering cost and time-efficient solution to several applications like healthcare,surveillance,disaster management,etc.In UAV networks,energy efficiency and data collection are considered the major process for high quality network communication.But these procedures are found to be challenging because of maximum mobility,unstable links,dynamic topology,and energy restricted UAVs.These issues are solved by the use of artificial intelligence(AI)and energy efficient clustering techniques for UAVs in the 6G environment.With this inspiration,this work designs an artificial intelligence enabled cooperative cluster-based data collection technique for unmanned aerial vehicles(AECCDC-UAV)in 6G environment.The proposed AECCDC-UAV technique purposes for dividing the UAV network as to different clusters and allocate a cluster head(CH)to each cluster in such a way that the energy consumption(ECM)gets minimized.The presented AECCDC-UAV technique involves a quasi-oppositional shuffled shepherd optimization(QOSSO)algorithm for selecting the CHs and construct clusters.The QOSSO algorithm derives a fitness function involving three input parameters residual energy of UAVs,distance to neighboring UAVs,and degree of UAVs.The performance of the AECCDC-UAV technique is validated in many aspects and the obtained experimental values demonstration promising results over the recent state of art methods.
基金funded by the National Natural Science Foundation of China (Grant Nos. 62173277 and 61573286)the Natural Science Foundation of Shaanxi Province (Grant No. 2022JM-011)+1 种基金the Aeronautical Science Foundation of China (Grant No. 201905053004)the Shaanxi Province Key Laboratory of Flight Control and Simulation Technology。
文摘A tight formation of unmanned aerial vehicles(UAVs) has many advantages, such as fuel saving and deceiving enemy radar during battlefield entry. As a result, research on UAVs in close formation has received much attention, and the controller design for formation holding has become a popular research topic in the control field. However, there are many unknown disturbances in tight formation, and the tail aircraft is disturbed by the wake. This paper establishes a mathematical model of wake vortices for tail aircraft that considers uncertainty and strong interference. Two UAVs are simulated by Computational Fluid Dynamics software, followed by the design of a semiphysical simulation model predictive control(MPC) scheme that suppresses uncertainty and interference sufficiently to enable the tail aircraft to accurately track the lead aircraft and maintain a stable, tight formation. The tight formation controller is verified by numerical simulation and semiphysical simulation. The results show that the designed controller has an excellent control effect in the case of disturbance caused by the wake vortex.
基金Project(61473229)supported by the National Natural Science Foundation of ChinaProjects(310832163403,310832161012)supported by the Special Fund for Basic Scientific Research of Central Colleges,Chang'an University,ChinaProject(CXY1512-3)supported by the Xi'an Science and Technology Plan,China
文摘Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanned aerial vehicles(multi-UAV) is proposed based on consensus, aiming at maintaining a specified geometric configuration. A formation control algorithm with guidance and corresponding flight controllers is given, managing position and attitude, respectively. In order to follow a three-dimensional predefined flight path, by introducing the tracking orders as reference states into the consensus, the formation control algorithm is designed, following the predefined flight path and maintaining geometric configuration simultaneously. The flight controllers are constructed by nonlinear dynamic inverse, including attitude design and velocity design. With the whole system composed of a nonlinear six-degree-of-freedom UAV model, the formation control algorithm and the flight controllers, the formation keeping strategy is closed loop and with full states. In simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the proposed strategy.
基金supported by the National Natural Science Foundation of China(61673327)the Industrial Development and Foster Project of Yangtze River Delta Research Institute of NPU,Taicang(CY20210202)+1 种基金the Fundamental Research Funds for the Central Universities(G2021KY05116,G2022WD01026)the Basic Research Programs of Taicang(TC2021JC28)。
文摘This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity and ratios of distances for a target configuration.In particular,it is investigated that the quad-rotor UAVs are steered to track a reference linear velocity while maintaining a desired three-dimensional target formation.Firstly,by integrating the properties of the affine transformation and the stress matrix,the design of the target formation is convenient and applicable for various three-dimensional geometric patterns.Secondly,a distributed control method is proposed under a hierarchical framework.By introducing an intermediary control input for each quad-rotor UAV in the position loop,the necessary thrust input and the desired attitude are extracted.In the attitude loop,the desired attitude represented by the unit quaternion is tracked by the designed torque input.Both conditions of linear velocity unavailability and mutual collision avoidance are also tackled.In terms of Lyapunov theory,it is prooved that the overall closed-loop error system is asymptotically stable.Finally,two illustrative examples are simulated to validate the effectiveness of the proposed theoretical results.
文摘Sensor nodes cannot directly communicate with the distant unmanned aerial vehicle( UAV) for their low transmission power. Distributed collaborative beamforming from sensor nodes within a cluster is proposed to provide high speed data transmission to the distant UAV. The bit error ratio( BER) closed-form expression of distributed collaborative beamforming transmission with mobile sensor nodes has been derived. Furthermore,based on the theoretical BER analysis and the numerical results,we have analyzed the impacts of nodes 'mobility,number of sensor nodes,transmission power and the elevation angle of UAV on the BER performance of collaborative beamforming. And we come to the following conclusions: the mobility of sensor nodes largely decreases the BER performance; when the position deviation radius is large,incensement in power cannot improve BER anymore; the size of cluster should be bigger than 10 for the purpose of achieving good BER performance in Rayleigh fading channel.
基金supported in part by the National Key R&D Program of China under Project 2020YFB1006004the Guangxi Natural Science Foundation under Grants 2019GXNSFFA245015 and 2019GXNSFGA245004+2 种基金the National Natural Science Foundation of China under Projects 62162017,61862012,61962012,and 62172119the Major Key Project of PCL under Grants PCL2021A09,PCL2021A02 and PCL2022A03the Innovation Project of Guangxi Graduate Education YCSW2021175.
文摘The unmanned aerial vehicle(UAV)self-organizing network is composed of multiple UAVs with autonomous capabilities according to a certain structure and scale,which can quickly and accurately complete complex tasks such as path planning,situational awareness,and information transmission.Due to the openness of the network,the UAV cluster is more vulnerable to passive eavesdropping,active interference,and other attacks,which makes the system face serious security threats.This paper proposes a Blockchain-Based Data Acquisition(BDA)scheme with privacy protection to address the data privacy and identity authentication problems in the UAV-assisted data acquisition scenario.Each UAV cluster has an aggregate unmanned aerial vehicle(AGV)that can batch-verify the acquisition reports within its administrative domain.After successful verification,AGV adds its signcrypted ciphertext to the aggregation and uploads it to the blockchain for storage.There are two chains in the blockchain that store the public key information of registered entities and the aggregated reports,respectively.The security analysis shows that theBDAconstruction can protect the privacy and authenticity of acquisition data,and effectively resist a malicious key generation center and the public-key substitution attack.It also provides unforgeability to acquisition reports under the Elliptic Curve Discrete Logarithm Problem(ECDLP)assumption.The performance analysis demonstrates that compared with other schemes,the proposed BDA construction has lower computational complexity and is more suitable for the UAV cluster network with limited computing power and storage capacity.
基金Natural Science Basic Research Plan in Shaanxi Province of China(2023-JC-QN-0733).
文摘This paper proposes the nonlinear direct data-driven control from theoretical analysis and practical engineering,i.e.,unmanned aerial vehicle(UAV)formation flight system.Firstly,from the theoretical point of view,consider one nonlinear closedloop system with a nonlinear plant and nonlinear feed-forward controller simultaneously.To avoid the complex identification process for that nonlinear plant,a nonlinear direct data-driven control strategy is proposed to design that nonlinear feed-forward controller only through the input-output measured data sequence directly,whose detailed explicit forms are model inverse method and approximated analysis method.Secondly,from the practical point of view,after reviewing the UAV formation flight system,nonlinear direct data-driven control is applied in designing the formation controller,so that the followers can track the leader’s desired trajectory during one small time instant only through solving one data fitting problem.Since most natural phenomena have nonlinear properties,the direct method must be the better one.Corresponding system identification and control algorithms are required to be proposed for those nonlinear systems,and the direct nonlinear controller design is the purpose of this paper.
文摘无人飞行器(unmanned aerial vehicle,UAV)自组网的路由研究多以性能指标出发、忽略无人飞行器网络的任务驱动性,与实际需求动态耦合弱、适用性不强。针对该问题基于无人飞行器多任务网络提出了面向任务的无人飞行器联盟组网架构,提出了无人飞行器联盟的任务自适应优化链路状态路由协议(task adaptive optimized link state routing,TA-OLSR)。基于模糊逻辑设计拓扑稳定度计算方法,利用拓扑稳定度实现TA-OLSR控制消息的自适应广播,同时结合稳定度设计新的多点中继选择策略。仿真结果表明,TA-OLSR算法能从宏观面向任务的角度出发,实现不同任务下的良好自适应性,提升数据包投递率,减少冗余信息传播,降低网络开销,有效提高整体网络性能。
基金supported by the National Natural Science Foundation of China(Grant Nos.61273054,60975072 and 60604009)the National Basic Research Program of China("973"Project)(Grant No.2013CB035503)+1 种基金the Program for New Century Excellent Talents in University of China(Grant No.NCET-10-0021)the Aeronautical Foundation of China(Grant No.20115151019)
文摘A novel network control method based on trophallaxis mechanism is applied to the formation flight problem for multiple unmanned aerial vehicles(UAVs).Firstly,the multiple UAVs formation flight system based on trophallaxis network control is given.Then,the model of leader-follower formation flight with a virtual leader based on trophallaxis network control is presented,and the influence of time delays on the network performance is analyzed.A particle swarm optimization(PSO)-based formation controller is proposed for solving the leader-follower formation flight system.The proposed method is applied to five UAVs for achieving a 'V' formation,and a series of experimental results show its feasibility and validity.The proposed control algorithm is also a promising control strategy for formation flight of multiple unmanned underwater vehicles(UUVs),unmanned ground vehicles(UGVs),missiles and satellites.
基金supported in part by the Research Grants Council of Hong Kong SAR,China(No.14209020)in part by Peng Cheng Laboratory,China.
文摘In this paper,we investigate a formation control problem of multi-agent systems(specifically a group of unmanned aerial vehicles)based on a semi-global leader-following consensus approach with both the leader and the followers subject to input saturation.Utilizing the low gain feedback design technique,a distributed static control protocol and a distributed adaptive control protocol are constructed.The former solves the problem under an assumption that the communication network is undirected,and it depends on the global information of the graph.For the latter,we relax the undirected graph to directed graph.Moreover,an adaptive updating gain is designed to avoid using the global information of the communication network.It is shown that the consensus protocols can solve the semi-global leader-following consensus problem if the leader agent is globally reachable.The results are verified successfully by both simulation and real flight tests.
基金the National Natural Science Foundation of China(No.61973309)the Research Project of National University of Defense Technology,China(No.ZK21-05)the Hunan Provincial Natural Science Foundation of China(No.2021JJ10053)。
文摘The affine formation tracking problem for fixed-wing unmanned aerial vehicles(UAVs)is considered in this paper,where fixed-wing UAVs are modeled as unicycle-type agents with asymmetrical speed constraints.A group of UAVs are required to generate and track a time-varying target formation obtained by affinely transforming a nominal formation.To handle this problem,a distributed control law based on stress matrix is proposed under the leader-follower control scheme.It is proved,theoretically,that followers can converge to the desired positions and achieve affine transformations while tracking diverse trajectories.Furthermore,a saturated control strategy is proposed to meet the speed constraints of fixed-wing UAVs,and numerical simulations are executed to verify the effectiveness of our proposed affine formation tracking control strategy in improving maneuverability.