Robust Leaderless Time-Varying Formation Control for Nonlinear Unmanned Aerial Vehicle Swarm System With Communication Delays

Kang, Yuhang; Luo, Delin; Xin, Bin; Cheng, Jian; Yang, Tang; Zhou, Shaolei

doi:10.1109/tcyb.2022.3165007

Cited by 31 publications

(9 citation statements)

References 46 publications

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“…Facing the challenges of complex battlefield environments, such as land, sea, air, space, electromagnetic and network, establishing reliable communication networks among the UAV swarm is the key to carrying out cooperative tasks. Generally, the reliability of the communication network has many challenging parameters, such as time delay [ 51 ], switching topologies [ 52 ], node-link interruption [ 53 ], presence of jammers [ 54 ] and unpredictable noisy channels [ 55 ]. In the aspect of theoretical exploration, the communication network of a UAV swarm is usually considered via the graph theory method, which introduces the network, node and link as a graph, vertex and edge, respectively.…”

Section: Unmanned Swarm Systemsmentioning

confidence: 99%

From animal collective behaviors to swarm robotic cooperation

Duan

Huo

Fan

2023

National Science Review

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The collective behaviors of animals, from schooling fish to packing wolves and flocking birds, display plenty of fascinating phenomena that result from simple interaction rules among individuals. The emergent intelligent properties of the animal collective behaviors, such as self-organization, robustness, adaptability, and expansibility, have inspired the design of autonomous unmanned swarm systems. This article reviews several typical natural collective behaviors, introduces the origin and connotation of swarm intelligence, gives the application case of animal collective behaviors. On this basis, the article focuses on the forefront of progress and bionic achievements of aerial, ground and marine robotics swarms, illustrating the mapping relationship from biological cooperative mechanisms to cooperative unmanned cluster systems. Finally, considering the significance of Coexisting-Cooperative-Cognitive (Tri-Co) human-machine system, the key technologies to be solved are given as the reference directions for the subsequent exploration.

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Section: Unmanned Swarm Systemsmentioning

confidence: 99%

From animal collective behaviors to swarm robotic cooperation

Duan

Huo

Fan

2023

National Science Review

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“…Remark 6. In Equation (21), 𝜏 is used to express the strength of the coupling effect between the state deviation of the UAV itself and the state deviation of two adjacent UAVs. Specifically, 𝜏 can represent how quickly the effort of the state deviation of two adjacent UAVs influences the system's response.…”

Section: Design Of Control Protocol For Formation Systemmentioning

confidence: 99%

“…In real-world environments, UAV formation systems can encounter several potential challenges, such as environmental disturbance, 20 communication delays or packet loss, 21 collision avoidance, 22 cyber-attacks, 23,24 and so on. The anti-disturbance tracking control problem of UAVs formation has gradually attracted wide attention, and many achievements 20,25 have been made.…”

mentioning

confidence: 99%

Detection and defense of time‐varying formation for unmanned aerial vehicles against false data injection attacks and external disturbance

Wang,

Liu

2023

Intl J Robust & Nonlinear

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This article investigates the detection and defense method of time‐varying formation for unmanned aerial vehicles (UAVs) against external disturbance and false data injection attacks (FDIAs). First, to detection attacks, a distributed attack identification filter is constructed for each UAV. Second, two distributed extended state observers are designed to separate and estimate external disturbances and FDIAs. Third, the distributed time‐varying formation tracking protocol and defense strategy for attacks is designed by utilizing the estimated information. The formation system is shown to asymptotically track the desired formation and trajectory and meanwhile reject the disturbance and attacks if the expected formation satisfies the feasible condition by stability analysis. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed approach.

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Section: Introductionmentioning

confidence: 99%

“…Interconnected systems (ISs), a group formed of intelligent systems with sensing, communication, and computing capabilities through network interconnection, have drawn great attention in control community due to its wide applications in smart grids, 1 multirobots, 2 persistent monitoring, 3 and unmanned aerial vehicles. 4 Various applications reveal several kinds of connecting networks of ISs. Single layer network 5 means the systems are connected with each other through a homogeneous network.…”

Section: Introductionmentioning

confidence: 99%

Consensus of interconnected systems via event‐triggered control with different cyber‐physical topologies

Xiao

Liu

et al. 2023

Intl J Robust & Nonlinear

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In this paper, the consensus problem for a class of interconnected systems with different cyber‐physical topologies is investigated. A two‐layer control framework is proposed where two different connections exist among the systems in physical and cyber layers, respectively. The former directly reflects the physical coupling among systems, while the latter uses the states' information transferred by communication channels to generate control. The physical and cyber topologies are undirected and not required to be connected. An event‐triggered protocol based on cyber local sampled information is designed with no need to solve any matrix equation or inequality. Theoretical sufficient conditions for consensus are derived in terms of algebraic inequality and Zeno behavior is excluded. A novel expandable construction scheme is proposed to construct switching topologies for cyber layer. Numerical simulation and comparison show the effectiveness of the proposed control method and the advantage on saving communication network constructions.

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Robust Leaderless Time-Varying Formation Control for Nonlinear Unmanned Aerial Vehicle Swarm System With Communication Delays

Cited by 31 publications

References 46 publications

From animal collective behaviors to swarm robotic cooperation

From animal collective behaviors to swarm robotic cooperation

Detection and defense of time‐varying formation for unmanned aerial vehicles against false data injection attacks and external disturbance

Consensus of interconnected systems via event‐triggered control with different cyber‐physical topologies

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