AlgoTime-Varying Formation-Containment Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies and a Non-Cooperative Target

Abstract

Abstract:This paper studies the time-varying formation-containment tracking control problems for unmanned aerial vehicle (UAV) swarm systems with switching topologies and a non-cooperative target, where the UAV swarm systems consist of one tracking-leader, several formation-leaders, and followers. The formation-leaders are required to accomplish a predefined time-varying formation and track the desired trajectory of the tracking-leader, and the states of the followers should converge to the convex hull spanned by those of the formation-leaders. First, a formation-containment tracking protocol is proposed with the neighboring relative information, and the feasibilit condition for formation-containment tracking and the algebraic Riccati equation are given. Then, the stability of the control system with the designed control protocol is proved by constructing a reasonable Lyapunov function. Finally, the simulation examples are applied to verify the effectiveness of the theoretical results. The simulation results show that both the formation tracking error and the containment error are convergent, so the system can complete the formation containment tracking control well. In the actual battlefield, combat UAVs need to chase and attack hostile UAVs, but sometimes when multiple UAVs work together for military interception, formationcontainment tracking control will occur.

Key words:formation-containment tracking control, switching topology, unmanned aerial vehicle (UAV)

摘要：本文研究了具有切换拓扑和非合作目标的无人机集群系统的时变编队合围跟踪控制问题，其中无人机集群系统由一个跟踪领导者、多个编队领导者和跟随者组成。编队领导者需要去完成预定的时变编队并追踪上跟踪领导者期望的轨迹，并且跟随者的状态收敛到编队领导者的状态所形成的凸包内。首先，提出了一种包含相邻相对信息的编队合围跟踪协议，且给出了编队跟踪的可行性条件和代数黎卡提方程；然后，通过构造合理的李雅普诺夫函数，证明了所设计控制协议下控制系统的稳定性。最后，通过仿真算例验证了理论结果的有效性。仿真结果表明，编队跟踪误差和合围误差都是收敛的，从而系统可以很好地完成编队合围跟踪控制。实际战场上，战斗无人机需要追逐和攻击敌对无人机，但有时多无人机协同作战进行军事拦截时，就会出现编队合围跟踪控制。

关键词:编队合围跟踪控制, 切换拓扑，无人机

CLC Number:

TP273

WU Xiaojing^∗(武晓晶), CAO Tongyao (曹童瑶), ZHEN Ran (甄然), LI Zhijie (李志杰). AlgoTime-Varying Formation-Containment Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies and a Non-Cooperative Target[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(4): 689-701.

References

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