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首页> 外文期刊>Neural Networks and Learning Systems, IEEE Transactions on >Time-Varying Formation Tracking for UAV Swarm Systems With Switching Directed Topologies
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Time-Varying Formation Tracking for UAV Swarm Systems With Switching Directed Topologies

机译：具有切换定向拓扑的无人机群系统的时变编队跟踪

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摘要

Time-varying formation tracking (TVFT) control problems for a team of unmanned aerial vehicles (UAVs) with switching and directed interaction topologies are investigated, where the follower UAVs realize a given time-varying formation while tracking the leader UAV. A TVFT control protocol is firstly constructed utilizing local neighboring information, where the information of the leader UAV is only available to partial followers and the neighborhood can be switching. An algorithm composed of four steps is provided to design the TVFT protocol. It is proved that the UAV swarm system can realize the TVFT using the designed protocol if the dwell time for the switching directed topologies is larger than a fixed threshold and the TVFT feasibility condition is satisfied. Based on the ultrawideband positioning technology, a quadrotor UAV formation control platform with four quadrotor UAVs is given. The obtained theoretical results are applied to solve the target enclosing problems of the UAV swarm systems. A flying experiment for three follower quadrotor UAVs to enclose a leader quadrotor UAV is carried out to verify the effectiveness of the presented results.
机译：研究了具有切换和定向交互拓扑的无人飞行器（UAV）团队的时变编队跟踪（TVFT）控制问题，其中随从无人机在跟踪领导者无人机的同时实现了给定的时变编队。首先利用本地邻近信息来构造TVFT控制协议，其中，领导者UAV的信息仅对部分跟随者可用，并且邻居可以切换。提供了由四个步骤组成的算法来设计TVFT协议。实践证明，如果切换定向拓扑的驻留时间大于固定阈值，并且满足TVFT可行性条件，则无人机群系统可以使用设计的协议实现TVFT。基于超宽带定位技术，给出了具有四个四旋翼无人机的四旋翼无人机编队控制平台。将获得的理论结果用于解决无人机群系统的目标包围问题。进行了三个从动四旋翼无人机包围一个前导四旋翼无人机的飞行实验，以验证所提出结果的有效性。

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