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Pigeon-Inspired Circular Formation Control for Multi-UAV System with Limited Target Information

查看全文 作　　者：Mengzhen [1]Huo;Haibin [1]Duan;Yanming [2]Fan 高影响力作者 机构地区：[1]Bio-inspired Autonomous Flight Systems Research Group,School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,P.R.China;[2]Shenyang Aircraft Design and Research Institute,Aviation Industry Corporation of China,Shenyang,Liaoning 110035,P.R.China高影响力机构 出　　处：《Guidance, Navigation and Control》索引2021年第1卷第1期,共23页高影响力期刊 基　　金：This work was partially supported by Science and Technology Innovation 2030-Key Project of\New Generation Arti-cial Intelligence'under the Grant No.2018AAA0102405;National Natural Science Foundation of China under the Grant Nos.91948204,U20B2071,U1913602,and U19B2033. 摘　　要：The problem of cooperative circular formation with limited target information for multiple Unmanned Aerial Vehicle(UAV)system is addressed in this paper.A pigeon-inspired circular formation control method is proposed to form the desired circular distribution in a plane based on the intelligent pigeon behavior during hovering.To reach the goal of prescribed radius and angular distribution,the controller is designed consisting of a circular movement part and a formation distribution part.Therein,the circular movement part is designed to make each UAV rotate around the speci-ed circle at the same angular speed only using the relative position between the UAV and the target.The formation distribution part could adjust the angular distance between each UAV and its neighbors with the jointly connected network to reduce communication cost.To smooth the speed variation,nonlinear PID-type method is delivered throughout the evolution of the system.The convergence analysis of the proposed control protocol is presented using Lyapunov theory and graph tools.The e®ectiveness of the proposed control strategies is demonstrated through numerical simulations. 关 键 词：Unmanned Aerial Vehicle(UAV)system circular formation intelligent pigeon behavior limited target information
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