KR-20260067495-A - Method and system for control of formation-following and leader-tracking of UAV formation

Abstract

The present invention relates to a method and system for controlling formation following and leader tracking of a UAV formation, and more specifically, to a method and system for controlling a UAV formation to track a leader traveling on the ground or water or flying while maintaining a constant formation shape. According to the present invention, graph theory is used to define the relationship between the UAVs within the formation and the leader, thereby controlling the formation to move while maintaining a consistent structure. Furthermore, by utilizing Fast Terminal Sliding Mode Control, rapid stability is provided in leader tracking and formation shape maintenance. Moreover, by applying the Fast Terminal Sliding Mode Control technique, which improves upon the problems of conventional sliding mode control, to Leader-Follower based formation control, a formation control method and system are provided that are more robust against disturbances and improve control delay issues through rapid convergence performance.

Inventors

• 홍성경
• 성창우
• 응우엔 수완 뭉
• 도 트엉 동

Assignees

• 세종대학교산학협력단

Dates

Publication Date

20260513

Application Date

20241105

Claims (12)

1. A method for a UAV formation tracking and leader tracking control system to perform control for maintaining the formation shape of the UAV formation (hereinafter referred to as "formation tracking") and control for tracking a leader vehicle (hereinafter referred to as "leader tracking"), wherein (a) receiving location and speed information of the corresponding leader vehicle from the leader vehicle; (b) receiving position and velocity information of each UAV in the UAV squadron; (c) A step of calculating the error for formation tracking and leader tracking for the position and velocity of the UAV formation, respectively, from the information of steps (a) and (b) above (hereinafter referred to as 'formation tracking and leader tracking error'); (d) a step of calculating control input values for formation tracking and leader tracking from the formation tracking and leader tracking errors above; and, (e) transmitting the above control input value to the controller of each UAV of the UAV squadron. A method for controlling formation following and leader tracking of a UAV formation including
2. In claim 1, In step (c) above, the formation following and leader tracking errors are, What is produced using graph theory A method for controlling formation following and leader tracking of a UAV formation characterized by
3. In claim 2, The error in formation following is, For each UAV in the formation, calculate the difference between the target value and the measured actual distance between the formation's center and the corresponding UAV, and the square root of the sum of the squares of the differences calculated for each UAV. A method for controlling formation following and leader tracking of a UAV formation characterized by
4. In claim 2, The error in leader tracking is, The distance between the center of the formation and the aforementioned leader A method for controlling formation following and leader tracking of a UAV formation characterized by
5. In claim 2, If the position error is e p and the velocity error is e v , , and, here The operation refers to the Kronecker product, and as, L is the Laplacian matrix of the weight graph G, which consists of connections and interactions between the leader and each UAV, and B is the communication weight matrix between the leader and each UAV, and , (1, 2, ... N are each UAV), I² is a 2×2 identity matrix, u is the control input value for each UAV, u L is the control value for the leader vehicle. A method for controlling formation following and leader tracking of a UAV formation characterized by
6. In claim 1, In the above step (d), the control input value is, Calculated using Fast Terminal Sliding Mode Control (FTSMC) A method for controlling formation following and leader tracking of a UAV formation characterized by
7. In claim 6, In the above high-speed terminal sliding mode control, the sliding surface formula is, thing A method for controlling formation following and leader tracking of a UAV formation characterized by
8. In claim 7, The control input value of the above step (d) is, and, here L is the Laplacian matrix of the weight graph G, which consists of connections and interactions between the leader and each UAV, and B is the communication weight matrix between the leader and each UAV, and , (1, 2, ... N are each UAV), c, μ1 , μ2 , b, k are control gain variables, I 2 is a 2×2 identity matrix, I 6 is a 6×6 identity matrix, and 1 3 is a [1,1,1] T matrix. A method for controlling formation following and leader tracking of a UAV formation characterized by
9. In claim 1, Between the above steps (d) and (e), (d1) A step of converting the above control input value into a control input value of the controller of the UAV. Includes more, The control input value transmitted to each UAV controller in step (e) above is, The control input value converted and calculated in the above step (d1). A method for controlling formation following and leader tracking of a UAV formation characterized by
10. In claim 9, The control input value converted and calculated in the above step (d1) is, The speed value for each UAV A method for controlling formation following and leader tracking of a UAV formation characterized by
11. As a formation following and leader tracking control system for a UAV formation, At least one processor; and It includes at least one memory that stores computer-executable instructions, The computer-executable instruction stored in the above at least one memory is, by the above at least one processor, (a) receiving location and speed information of the corresponding leader vehicle from the leader vehicle; (b) receiving position and velocity information of each UAV in the UAV squadron; (c) A step of calculating the error for formation tracking and leader tracking for the position and velocity of the UAV formation, respectively, from the information of steps (a) and (b) above (hereinafter referred to as 'formation tracking and leader tracking error'); (d) a step of calculating control input values for formation tracking and leader tracking from the formation tracking and leader tracking errors above; and, (e) transmitting the above control input value to the controller of each UAV of the UAV squadron. A UAV squadron formation following and leader tracking control system that enables execution.
12. A computer program stored on a computer-readable, non-transient storage medium for performing formation following and leader tracking control of an AV formation, It is stored on a non-transient storage medium, and by a processor, (a) receiving location and speed information of the corresponding leader vehicle from the leader vehicle; (b) receiving position and velocity information of each UAV in the UAV squadron; (c) A step of calculating the error for formation tracking and leader tracking for the position and velocity of the UAV formation, respectively, from the information of steps (a) and (b) above (hereinafter referred to as 'formation tracking and leader tracking error'); (d) a step of calculating control input values for formation tracking and leader tracking from the formation tracking and leader tracking errors above; and, (e) transmitting the above control input value to the controller of each UAV of the UAV squadron. A computer program stored on a computer-readable, non-transient storage medium for performing formation following and leader tracking control of a UAV formation, including a command to cause to be executed.

Description

Method and system for control of formation-following and leader-tracking of UAV formation The present invention relates to a method and system for controlling formation following and leader tracking of a UAV formation, and more specifically, to a method and system for controlling a UAV formation to track a leader traveling on the ground or water or flying while maintaining a constant formation shape. Since UAVs (Unmanned Aerial Vehicles) operate in the air, they are significantly affected by the external environment. In particular, when controlling formations consisting of multiple aircraft, formation control techniques capable of rapidly responding to external disturbances such as wind are required. Sliding mode control techniques are widely used to control formations composed of multiple aircraft. However, conventional sliding mode control has a problem in that setting high controller gain values causes chattering, which adversely affects control performance. FIG. 1 is a diagram showing the free-body kinematics of four-wheel differential steering. FIG. 2 is a diagram showing the definition of the coordinate system of a quadcopter. Figure 3 is a block diagram of the entire system consisting of a leader vehicle, a formation following and leader tracking control system, and a follower. FIG. 4 is a diagram illustrating the graph shape and correlation of a formation as an embodiment of the present invention. FIG. 5 is a diagram showing the formation shape and variable definitions as an embodiment of the present invention. FIG. 6 is a block diagram of the algorithm for the formation following and leader tracking control system of a UAV formation of the present invention. FIG. 7 is a flowchart of the algorithm of the formation following and leader tracking control system of a UAV formation of the present invention. Figure 8 is a block diagram of a PID controller used in a quadcopter. FIG. 9 is a diagram showing a simulation scenario of the formation following and leader tracking control method of a UAV formation according to the present invention. Fig. 10 is a diagram showing the initial response of the formation center P c on the x-axis and y-axis in a UAV formation in a disturbance-free environment. FIG. 11 is a diagram showing a random Gaussian disturbance injected into the x-axis in the 10-50 second interval in a disturbance environment. FIG. 12 is a diagram showing a random Gaussian disturbance injected into the y-axis in the 10-50 second interval in a disturbance environment. Figure 13 is a diagram showing the simulation trajectory of a PID controller. Figure 14 is a diagram showing the simulation trajectory of conventional sliding mode control. FIG. 15 is a diagram showing the simulation trajectory of the Fast Terminal Sliding Mode Control of the present invention. FIG. 16 is a diagram showing the trajectory of the formation center Pc of each controller and the leader position PL . Figure 17 is a diagram showing the x-axis graph of the formation center Pc of each controller. Figure 18 is a diagram showing the y-axis graph of each controller formation center point Pc . FIG. 19 is a diagram showing the tracking error e tracking of each controller. FIG. 20 is a diagram showing a1 of each controller. FIG. 21 is a diagram showing a 2 of each controller. FIG. 22 is a diagram showing a 3 of each controller. FIG. 23 is a diagram showing the formation shape error e formation of each controller. Figure 24 is a diagram showing the disturbance simulation trajectory of a PID controller. Figure 25 is a diagram showing the disturbance simulation trajectory of a sliding mode controller. FIG. 26 is a diagram showing the disturbance simulation trajectory of a high-speed terminal sliding mode controller. FIG. 27 is a diagram showing the formation center point P c of the controller and the trajectory of the leader position P L. Figure 28 is a diagram showing the x-axis graph of the formation center Pc of each controller. FIG. 29 is a diagram showing the y-axis graph of the formation center Pc of each controller. FIG. 30 is a diagram showing the tracking error e tracking of each controller. FIG. 31 is a diagram showing a1 of each controller. FIG. 32 is a diagram showing a 2 of each controller. FIG. 33 is a diagram showing a 3 of each controller. FIG. 34 is a diagram showing the formation shape error e formation of each controller. FIG. 35 is a diagram showing a flight experiment scenario for validating the control algorithm. FIG. 36 is a diagram showing a performance verification flight test scenario under disturbances. FIG. 37 is a diagram showing the trajectory of the formation center point P c and the leader position PL in a disturbance-free environment. FIG. 38 is a diagram showing the tracking error e tracking in a disturbance-free environment. FIG. 39 is a diagram showing the formation shape error e formation in a disturbance-free environment. FIG. 40 is a diagram showing the trajectory of the formation center Pc of eac