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Collaborative Search Method of Heterogeneous UAVs in Gray Area 1

7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Wang, Hongmin Bu, Yunong Zhao, Jiajia Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733323

ISBN: (纸本)9789819733316

A collaborative search planning method based on an information map is proposed for the problem of multi-moving target detection in gray areas using a heterogeneous UAV swarm. This method takes into account the detection probability and false alarm probability of sensors, the heterogeneity and flight constraints of UAVs, and the random movement of targets. The mathematical planning model for the collaborative search of multiple UAVs is built by balancing short-term gain, long-term gain, and coordination gain. An information map for search is designed, incorporating target existence probability, environmental uncertainty, and revisiting pheromones. Different planning schemes are designed based on the heterogeneous characteristics of UAVs. Through numerical simulations in typical collaborative search scenarios, the effectiveness of the proposed method is validated. The simulation results show that the proposed method can make search trajectory decisions for each UAV within seconds. The organic combination of short-term, long-term, and coordination gain can guide the UAV swarm to capture more targets. Comparative simulation results demonstrate that the proposed method can capture more targets with fewer false alarms, effectively improving the task efficiency of heterogeneous multi-UAV collaborative search. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Unmanned aerial vehicles (UAV)

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Research Status and Application of Mission Assignment Method and Cooperative Positioning and Navigation for Cluster Aircraft

Research Status and Application of Mission Assignment Method...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Danting, Sheng Mingrui, Hao Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811966125

In order to solve the problem of multi-aircraft cluster cooperative combat, this paper tries to classify and sum up the existing achievements on task assignment method and cooperative positioning and navigation. Among the distributed methods of task allocation, the contract net-based method of task allocation and the distributed method of simulating the complex and orderly collective behavior of social creatures are briefly described. According to the method of cooperative positioning of swarm aircraft, it is divided into measuring the relative distance of aircraft, measuring the relative angle of aircraft and layered cooperative navigation system. Combining with the classical research and application, this paper analyzes and summarizes the existing task allocation methods and the achievements of cooperative positioning and navigation, and forecasts the future engineering application in this field. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Aircraft

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Design of Cooperative Combat Task Architecture for Unknown Wide Area Cluster Reconnaissance and Strike

Design of Cooperative Combat Task Architecture for Unknown W...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Bu, Yunong Chi, Qingxi Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789811581540

In the face of the requirements of information warfare in the future battlefield under the condition of high-intensity confrontation, cluster warfare has become the main trend of the development of some weapons and equipment. This makes us need to explore the cooperative operation mechanism of weapon equipment cluster, realize the rapid response of the cluster to the change of battlefield situation under the uncertain operation environment, complete the OODA cycle of operation, and improve the autonomous operation ability of the cluster. This paper takes the unknown wide area multi-target cooperative reconnaissance and strike task as the operational scenario, combs the task flow, function composition, network structure and data interaction relationship. Based on the task constraint, the architecture of cluster cooperative combat task is designed. The cooperative OODA closed-loop is preliminarily realized. It provides the basis for further exploring the overall technology of cooperative combat mission architecture. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Network architecture

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Common Aircraft Formation control Methods and Application Prospects of High Order Fully Actuated system Theory in Aircraft Formation control 7th

Common Aircraft Formation Control Methods and Application Pr...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Liu, Xinyu Hao, Mingrui Fan, Yu Zhen, Yan Yue, Keyuan Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819733279

This article provides a review of formation control for multiple aircrafts. Firstly, several commonly used aircraft formation control methods were introduced, including leader-follower approach, behavior based formation control, virtual structure method, and artificial potential field method. Considering that the controller design of these methods is mostly based on first-order differential equations and state space methods or uses fuzzy theory or neural networks, further solutions are needed in issues such as model accuracy, controller anti-interference, and controller stability analysis. Therefore, this article proposes the possibility of applying high-order fully actuated (HOFA) system theory in aircraft formation control. In response to the nonlinear, coupled, and real-time aircraft formation control problems, the development of HOFA system theory is introduced, and it is pointed out that fully actuated system (FAS) method has outstanding advantages in dealing with nonlinear, time-varying, hysteresis problems. The article summarizes the current research and practice of FAS theory in the field of single aircraft control and multi-spacecraft formation control, and then propose a new idea of designing FAS formation control method for multiple aircrafts. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Aircraft

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A Combat Intention Reasoning Method for Warship Formation Targets Based on Deep Learning 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Xu, Hongfeng Zhao, Jiajia Zhang, Hang Jiang, Jixiang Chen, Linxiu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733361

ISBN: (纸本)9789819733354

With the rapid development of science and technology, modern war presents the characteristics of mathematics and information. Grasping the operational intention of battlefield targets plays a crucial role in the trend of war. The target of warship formation is an important fighting force in modern war. How to analyze and reason the target’s fighting intention accurately and timely is one of the most important parts of modern battlefield situation cognition system. Aiming at the problems of too strong subjectivity, lack of objectivity and poor model robustness existing in traditional intention reasoning methods, this paper introduces the idea of deep learning data-driven, and takes the electromagnetic, state and formation characteristic information of ship formation targets as input, designs a deep learning-based ship formation target intention reasoning model. The effectiveness of the algorithm is verified by mathematical simulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Deep learning

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Cluster Collaborative Search Method Based on Dynamic Adjustment of Parameters 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Si, JiaShuai Hao, MingRui Liu, ZhenChang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733361

ISBN: (纸本)9789819733354

In order to improve the ability of unmanned aerial vehicle(UAV) cluster collaborative search and obstacle avoidance, a multi-UAV collaborative search method based on dynamic parameter adjustment is proposed. Firstly, based on the distributed model predictive control (DMPC) model, a collaborative search problem model is designed considering the rapidity of target discovery, the rapidity of covering the task area and the obstacle avoidance between drones. Secondly, the jump grid decision method not only expands the feasible solution of the search decision, but also ensures that the UAV can track the navigation point of the decision smoothly. At last, a dynamic adjustment method of search parameters is proposed, which realizes threat avoidance in collaborative search process by adjusting search parameters online. The simulation results show that the cluster cooperative search method based on dynamic parameter adjustment can fully consider the maneuverability of UAVs and realize threat avoidance during cooperative search, and improve the robustness of the algorithm after some nodes are damaged. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Maneuverability

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Data-Driven Learning and control with Event-Triggered Measurements

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IEEE Transactions on Automatic control 2025年

作者： Feng, Shilun Shi, Dawei Chen, Tongwen Shi, Ling Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Clear Water Bay Kowloon Hong Kong

Event-triggered control has attracted considerable attention for its effectiveness in resource-restricted applications. To make event-triggered control as an end-to-end solution, a key issue is how to effectively learn unknown system dynamics from event-triggered measurements and consequently, develop a learning-based event-triggered controller. Existing works learn system dynamics based on periodic time-triggered measurements, and it is yet to know how to learn a controller with performance guarantee based on event-triggered measurements. To address this issue, we consider the problem of learning an event-triggered state feedback controller for an unknown linear system based on event-triggered state measurements in this work. In particular, we first analyze the event-triggered measurements within a set-membership framework. We prove that the estimation error belongs to a bounded ellipsoid determined by the historical measurements and the event-triggering condition. Subsequently, we demonstrate that all admissible systems compatible with the collected data samples can be explicitly represented in the form of quadratic matrix inequalities using the state estimates. With the acquired set of admissible systems, a co-design problem for the data-driven controller and event-triggering condition is solved using the linear matrix inequality technique, with guaranteed closed-loop stability and L2-gain performance. Finally, numerical examples and comparisons are provided to illustrate the effectiveness of the proposed event-triggered learning and control approach. © 1963-2012 IEEE.

关键词： Networked control systems

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Combat Intention Recognition of Aerial Battlefield Targets Based on LSTM 3rd

Combat Intention Recognition of Aerial Battlefield Targets B...

引用

3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Xu, Hongfeng Zhao, Jiajia Zhang, Hang Jiang, Jixiang Chen, Linxiu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819710867

In the course of military operations, the battlefield situation changes rapidly, and the combat time is fleeting. How to quickly and accurately identify the enemy’s combat intention is one of the important preconditions to ensure the commander’s correct command decision and obtain the initiative in the battlefield. In this paper, aiming at the problems of low accuracy and insufficient algorithm robustness of traditional target combat intention recognition methods in air battlefield, a combat intention recognition method based on LSTM is proposed according to the characteristics of sequence and multi-dimension of target characteristic data. Based on the historical and current state characteristics, electromagnetic characteristics and action characteristics of the target obtained by the sensor, the method uses the LSTM network to build the target combat intention recognition model, and learns the changes of the target characteristics through the network model to realize the target combat intention recognition. Simulation results show that the proposed method can effectively improve the accuracy of target combat intention recognition. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Military operations

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Relative Navigation of Unmanned Aerial Vehicles Based on Data Link Ranging and Partial Guidance Information 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Wang, Ziwen Song, Chuang Hao, Mingrui Liang, Xinkai Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789819733323

ISBN: (纸本)9789819733316

In GNSS-denied environments, precise relative navigation between unmanned aerial vehicles (UAVs) is a key technology for achieving cooperative tasks. The relative navigation method based on data link ranging information combines altitude, airspeed measurements, and attitude information to ensure the observability of UAVs’ relative states. However, due to the significant constraints imposed by observability conditions, a novel approach is proposed that utilizes partial guidance information from the UAV swarm towards the target as additional measurements. This approach enhances the observability capability of relative navigation and alleviates the constraints imposed by the observability conditions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Observability

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Cooperative Formation control of Fixed-Wing UAV Based on L1 Guidance Law Considering Collision Avoidance 7th

Cooperative Formation Control of Fixed-Wing UAV Based on L1 ...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Yue, Keyuan Hao, Mingrui Zhen, Yan Liu, Xinyu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819733392

This article proposes a formation control scheme based on L1 guidance law for fixed wing unmanned aerial vehicle clusters while considering collision avoidance issues between them. The fixed wing aircraft cluster adopts L1 guidance and tracking method to track their respective desired waypoints. By controlling the speed of the fixed-wing UAVs, the entire cluster forms a formation configuration on their individual desired trajectories. During the formation and transformation processes, an improved artificial potential field method is proposed based on the characteristics of fixed-wing UAVs to achieve collision avoidance between clusters. The effectiveness of the proposed approach is validated through numerical simulations based on a six-degree-of-freedom nonlinear UAV model, providing a reference for practical engineering applications. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Fixed wings

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