Journal of Shanghai Jiao Tong University

Journal of Shanghai Jiaotong University >

2020 , Vol. 54 >Issue 9: 973 - 980

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2020.146

Guidance, Navigation and Control

Consensus Control of Manned-Unmanned Aerial Vehicle Swarm Based on Hierarchy Interaction of Pigeons

Expand
  • 1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083,China
    2. CETC, China Academy of Electronics and Information Technology, Beijing 100041, China
    3. Shenyang Aircraft Design and Research Institute, Aviation Industry Corporation of China,Shenyang 110035, China

Received date: 2020-05-25

  Online published: 2020-10-10

Fold

Abstract

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.

Key words： manned-unmanned aerial vehicle swarm (MUMS); pigeon intelligence; cooperative motion; hierarchical interaction mechanism; consensus control

Cite this article

ZHAO Jianxia, DUAN Haibin, ZHAO Yanjie, FAN Yanming, WEI Chen . Consensus Control of Manned-Unmanned Aerial Vehicle Swarm Based on Hierarchy Interaction of Pigeons[J]. Journal of Shanghai Jiaotong University, 2020 , 54(9) : 973 -980 . DOI: 10.16183/j.cnki.jsjtu.2020.146

References

[1] 牛轶峰, 沈林成, 李杰, 等. 无人-有人机协同控制关键问题[J]. 中国科学: 信息科学, 2019,49(5):538-554.
[1] NIU Yifeng, SHEN Lincheng, LI Jie, et al. Key scientific problems in cooperation control of unmanned-manned aircraft systems[J]. Scientia Sinica (Informationis), 2019,49(5):538-554.
[2] 段海滨, 邱华鑫. 基于群体智能的无人机集群自主控制[M]. 北京: 科学出版社, 2018.
[2] DUAN Haibin, QIU Huaxin. Unmanned aerial vehicle swarm autonomous control based on swarm intelligence[M]. Beijing: Science Press, 2018.
[3] CHEN J, XU J, DING L, et al. Limited intervention collaborative decision-making of MAV/UAV team based on FCM [C]//2016 IEEE International Conference on Signal Processing, Communications and Computing (ICSPCC). Piscataway, NJ, USA: IEEE, 2016: 1-6.
[4] ZHONG Y, YAO P Y, ZHANG J Y, et al. Formation and adjustment of manned/unmanned combat aerial vehicle cooperative engagement system[J]. Journal of Systems Engineering and Electronics, 2018,29(4):756-767.
[5] NAGY M, AKOS Z, BIRO D, et al. Hierarchical group dynamics in pigeon flocks[J]. Nature, 2010,464(7290):890-893.
[6] NAGY M, VASARHELYI G, PETTIT B, et al. Context-dependent hierarchies in pigeons[J]. PNAS, 2013,110(32):13049-13054.
[7] ZAFEIRIS A, VICSEK T. Advantages of hierarchical organization: From pigeon flocks to optimal network structures[M] //Research in the Decision Sciences for Global Business: Best Papers from the 2013 Annual Conference. London: Pearson FT Press, 2015: 21-34.
[8] FLACK A, BIRO D, GUILFORD T, et al. Modelling group navigation: Transitive social structures improve navigational performance[J]. Journal of the Royal Society, Interface, 2015,12(108):20150213.
[9] LUO Q N, DUAN H B. Distributed UAV flocking control based on homing pigeon hierarchical strategies[J]. Aerospace Science and Technology, 2017,70:257-264.
[10] QU Z H. An impact equivalence principle of separating control designs for networked heterogeneous affine systems[J]. IFAC Proceedings Volumes, 2012,45(26):210-215.
[11] NIEUWENHUIZEN F M, ZAAL P M T, MULDER M, et al. Modeling human multichannel perception and control using linear time-invariant models[J]. Journal of Guidance, Control, and Dynamics, 2008,31(4):999-1013.
[12] ABBINK D A, MULDER M, VAN DER HELM F C T, et al. Measuring neuromuscular control dynamics during car following with continuous haptic feedback[J]. IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics: A Publication of the IEEE Systems, Man, and Cybernetics Society, 2011,41(5):1239-1249.
[13] OLIVARI M, NIEUWENHUIZEN F M, VENROOIJ J, et al. Methods for multiloop identification of visual and neuromuscular pilot responses[J]. IEEE Transactions on Cybernetics, 2015,45(12):2780-2791.
[14] PETTIT B, PERNA A, BIRO D, et al. Interaction rules underlying group decisions in homing pigeons[J]. Journal of the Royal Society, Interface, 2013,10(89):20130529.
[15] QIU H X, DUAN H B. Multiple UAV distributed close formation control based on in-flight leadership hierarchies of pigeon flocks[J]. Aerospace Science and Technology, 2017,70:471-486.
[16] 邱华鑫, 段海滨, 范彦铭. 基于鸽群行为机制的多无人机自主编队[J]. 控制理论与应用, 2015,32(10):1298-1304.
[16] QIU Huaxin, DUAN Haibin, FAN Yanming. Multiple unmanned aerial vehicle autonomous formation based on the behavior mechanism in pigeon flocks[J]. Control Theory & Applications, 2015,32(10):1298-1304.
[17] ZHOU B L, YANG Y Q, XU X Y. The group-delay consensus for second-order multi-agent systems by piecewise adaptive pinning control in part of time interval[J]. Physica A: Statistical Mechanics and its Applications, 2019,513:694-708.
[18] ATMAN M W S, HATANAKA T, QU Z H, et al. Motion synchronization for semi-autonomous robotic swarm with a passivity-short human operator[J]. International Journal of Intelligent Robotics and Applications, 2018,2(2):235-251.
[19] 邱华鑫, 段海滨, 范彦铭, 等. 鸽群交互模式切换模型及其同步性分析[J/OL]. (2020-12-05)[2020-06-16]. https://kns.cnki.net/KCMS/detail/23.1538.TP.20191205.1011.004.html.
[19] QIU Huaxin, DUAN Haibin, FAN Yanming, et al. Pigeon flock interaction pattern switching model and its synchronization analysis [J/OL]. (2020-12-05)[2020-06-16]. https://kns.cnki.net/KCMS/detail/23.1538.TP.20191205.1011.004.html.
Options
Outlines

/

〈 〉