Dynamic Event-Triggered Control for Unmanned Aerial Vehicle Swarm Adaptive Target Enclosing Mission.

Area of Science:

• Robotics
• Control Systems
• Artificial Intelligence

Background:

• Multi-unmanned aerial vehicle (UAV) target enclosing control is crucial for cooperative tasks but faces communication and framework limitations.
• Existing strategies often struggle with flexible formation transitions and efficient resource utilization.

Purpose of the Study:

• To propose a novel distributed cooperative control strategy for UAVs to achieve adaptive target enclosing.
• To address limitations in communication resources and task framework separation in multi-UAV systems.

Main Methods:

• Developed a formation description method using geometric transformation parameters for uniform description of formation movements (translation, rotation, scaling).
• Designed a cooperative architecture integrating formation control and target enclosing for flexible pattern transitions.
• Created a distributed dynamic event-triggered cooperative enclosing controller with online communication threshold adjustment.

Main Results:

• The proposed strategy significantly reduces communication frequency while ensuring high enclosing accuracy and formation consistency.
• Stability and Zeno-free behavior of the closed-loop system were proven using Lyapunov functions.
• The strategy effectively adapts to both uniform and maneuvering target scenarios.

Conclusions:

• The developed distributed control strategy offers an efficient and robust solution for multi-UAV cooperative target enclosing.
• This approach enhances system performance by optimizing communication and adapting to dynamic environments.