基于鸽群层级交互的有人/无人机集群一致性控制

The manned aerial vehicle (MAV) in manned-unmanned aerial vehicle swarm (MUMS) can compensate for the inabilities of unmanned aerial vehicles (UAVs) in complex conditions. Taking the advantage of the information-efficient transmission of hierarchical interaction mechanism of pigeons, a novel method for consensus control of MUMS was proposed. According to the constraints and the human behavior characteristics, a dynamic model of UAVs and a multi-channel operator model were established, based on which, a hierarchical interaction network was constructed. In this network, the flight decisions of MAV affect the individuals with higher ranks. Then these UAVs affect the remaining UAVs through the leadership hierarchical network. Therefore, an adaptive containment control strategy was proposed to reduce the costs, and achieve motion consistency of MUMS. In addition, the stability of the system was analyzed. Moreover, the effectiveness of the proposed method was verified by simulations.