Cooperative Flight Control of Multi-UAV Systems under a Data-Driven Paradigm

Kexin Li

doi:10.54691/6x6b4583

Authors

Kexin Li

DOI:

https://doi.org/10.54691/6x6b4583

Keywords:

Multi-UAV System; Model-free Adaptation; Data Packet Loss; Pseudo-partial Derivative.

Abstract

Aiming at the challenge of highly cooperative control of multi-UAV formation under nonlinear dynamics, communication restriction and malicious attacks, a data-driven Compact Format Dynamic Linearization based Model-Free Adaptive Control (CFDL-MFAC) method is adopted to transform the nonlinear system into a compact format dynamic linear model based on pseudo-partial derivatives, and a distributed control law and pseudo-partial derivative estimation algorithm are designed. Meanwhile, a reset mechanism is introduced to deal with data packet loss. Theoretical analysis verifies the tracking error convergence and the stability of bounded input and bounded output of the system under constant and time-varying trajectories. Simulation experiments indicate that the proposed method can effectively realize multi-UAV highly cooperative tracking with strong anti-jamming and robustness.

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