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2 pages, 160 KiB

Open AccessEditorial

Special Issue on “Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms”

by Dong Zhang and Wei Huang

Appl. Sci. 2022, 12(9), 4409; https://doi.org/10.3390/app12094409 - 27 Apr 2022

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Abstract

Swarm intelligence technology is a high and new technology combining unmanned system technology, network information technology and artificial intelligence technology, which has become a research hotspot [...] Full article

(This article belongs to the Special Issue Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms)

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14 pages, 3866 KiB

Open AccessArticle

Optimal Unmanned Ground Vehicle—Unmanned Aerial Vehicle Formation-Maintenance Control for Air-Ground Cooperation

by Jingmin Zhang, Xiaokui Yue, Haofei Zhang and Tiantian Xiao

Appl. Sci. 2022, 12(7), 3598; https://doi.org/10.3390/app12073598 - 01 Apr 2022

Cited by 4 | Viewed by 2401

Abstract

This paper investigates the air–ground cooperative time-varying formation-tracking control problem of a heterogeneous cluster system composed of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). Initially, the structure of the UAV–UGV formation-control system is analyzed from the perspective of a [...] Read more.

This paper investigates the air–ground cooperative time-varying formation-tracking control problem of a heterogeneous cluster system composed of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). Initially, the structure of the UAV–UGV formation-control system is analyzed from the perspective of a cooperative combat system. Next, based on the motion relationship between the UAV–UGV in a relative coordinate system, the relative motion model between them is established, which can clearly reveal the physical meaning of the relative motion process in the UAV–UGV system. Then, under the premise that the control system of the UAG is closed-loop stable, the motion state of the UGV is modeled as an input perturbation. Finally, using a linear quadratic optimal control theory, a UAV–UGV formation-maintenance controller is designed to track the reference trajectory of the UGV based on the UAV–UGV relative motion model. The simulation results demonstrate that the proposed controller can overcome input perturbations, model-constant perturbations, and linearization biases. Moreover, it can achieve fast and stable adjustment and maintenance control of the desired UAV–UGV formation proposed by the cooperative combat mission planning system. Full article

(This article belongs to the Special Issue Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms)

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27 pages, 4545 KiB

Open AccessFeature PaperArticle

Distributed Grouping Cooperative Dynamic Task Assignment Method of UAV Swarm

by Boyu Qin, Dong Zhang, Shuo Tang and Mengyang Wang

Appl. Sci. 2022, 12(6), 2865; https://doi.org/10.3390/app12062865 - 10 Mar 2022

Cited by 20 | Viewed by 2994

Abstract

Aiming at the problem of UAV swarms with distributed subsets performing cooperative reconnaissance-and-attack tasks on multi-targets in complex and uncertain combat scenarios, a distributed grouping cooperative dynamic task assignment method is proposed based on extended contract network protocol. The dynamic task assignment model [...] Read more.

Aiming at the problem of UAV swarms with distributed subsets performing cooperative reconnaissance-and-attack tasks on multi-targets in complex and uncertain combat scenarios, a distributed grouping cooperative dynamic task assignment method is proposed based on extended contract network protocol. The dynamic task assignment model for the UAV swarm with the topology of distributed subsets is established considering multiple constraints such as task cooperation, performing sequence, dynamic environment, communication topology, payload model, and UAV capability. According to the characteristics of multi-participants and multi-tasks in the process of UAV swarm executing tasks, the determination mechanism on cooperators and the selection mechanism of sequential tasks are proposed, and then the contract network protocol is extended. On the basis of the above, an event-triggered task assignment strategy for dynamic tasks is designed. The simulated results show that the proposed method can achieve the cooperative dynamic assignment of the UAV swarm to perform reconnaissance-and-attack tasks to multi-targets in complex and uncertain combat scenarios, improve the adaptiveness of the swarm under the sudden circumstance, and realize the optimization for task execution efficiency of the UAV swarm. Full article

(This article belongs to the Special Issue Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms)

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13 pages, 3619 KiB

Open AccessArticle

UAV-Cooperative Penetration Dynamic-Tracking Interceptor Method Based on DDPG

by Yuxie Luo, Jia Song, Kai Zhao and Yang Liu

Appl. Sci. 2022, 12(3), 1618; https://doi.org/10.3390/app12031618 - 03 Feb 2022

Cited by 10 | Viewed by 1797

Abstract

The multi-UAV system has stronger robustness and better stability in combat. Therefore, the collaborative penetration of UAVs has been extensively studied in recent years. Compared with general static combat scenes, the dynamic tracking and interception of equipment penetration are more difficult to achieve. [...] Read more.

The multi-UAV system has stronger robustness and better stability in combat. Therefore, the collaborative penetration of UAVs has been extensively studied in recent years. Compared with general static combat scenes, the dynamic tracking and interception of equipment penetration are more difficult to achieve. To realize the coordinated penetration of the dynamic-tracking interceptor by the multi-UAV system, the intelligent UAV model is established by using the deep deterministic policy-gradient algorithm, and the reward function is constructed using the cooperative parameters of multiple UAVs to guide the UAV to proceed with collaborative penetration. The simulation experiment proved that the UAV finally evaded the dynamic-tracking interceptor, and multiple UAVs reached the target at the same time, realizing the time coordination of the multi-UAV system. Full article

(This article belongs to the Special Issue Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms)

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23 pages, 8086 KiB

Open AccessArticle

Formation Control Technology of Fixed-Wing UAV Swarm Based on Distributed Ad Hoc Network

by Wenbo Suo, Mengyang Wang, Dong Zhang, Zhongjun Qu and Lei Yu

Appl. Sci. 2022, 12(2), 535; https://doi.org/10.3390/app12020535 - 06 Jan 2022

Cited by 11 | Viewed by 3012

Abstract

The formation control technology of the unmanned aerial vehicle (UAV) swarm is a current research hotspot, and formation switching and formation obstacle avoidance are vital technologies. Aiming at the problem of formation control of fixed-wing UAVs in distributed ad hoc networks, this paper [...] Read more.

The formation control technology of the unmanned aerial vehicle (UAV) swarm is a current research hotspot, and formation switching and formation obstacle avoidance are vital technologies. Aiming at the problem of formation control of fixed-wing UAVs in distributed ad hoc networks, this paper proposed a route-based formation switching and obstacle avoidance method. First, the consistency theory was used to design the UAV swarm formation control protocol. According to the agreement, the self-organized UAV swarm could obtain the formation waypoint according to the current position information, and then follow the corresponding rules to design the waypoint to fly around and arrive at the formation waypoint at the same time to achieve formation switching. Secondly, the formation of the obstacle avoidance channel was obtained by combining the geometric method and an intelligent path search algorithm. Then, the UAV swarm was divided into multiple smaller formations to achieve the formation obstacle avoidance. Finally, the abnormal conditions during the flight were handled. The simulation results showed that the formation control technology based on distributed ad hoc network was reliable and straightforward, easy to implement, robust in versatility, and helpful to deal with the communication anomalies and flight anomalies with variable topology. Full article

(This article belongs to the Special Issue Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms)

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16 pages, 4401 KiB

Open AccessArticle

Fully Distributed Control for a Class of Uncertain Multi-Agent Systems with a Directed Topology and Unknown State-Dependent Control Coefficients

by Zongcheng Liu, Hanqiao Huang, Sheng Luo, Wenxing Fu and Qiuni Li

Appl. Sci. 2021, 11(23), 11304; https://doi.org/10.3390/app112311304 - 29 Nov 2021

Cited by 2 | Viewed by 1082

Abstract

To address the control of uncertain multi-agent systems (MAS) with completely unknown system nonlinearities and unknown control coefficients, a global consensus method is proposed by constructing novel filters and barrier function-based distributed controllers. The main contributions are as follows. Firstly, a novel two-order [...] Read more.

To address the control of uncertain multi-agent systems (MAS) with completely unknown system nonlinearities and unknown control coefficients, a global consensus method is proposed by constructing novel filters and barrier function-based distributed controllers. The main contributions are as follows. Firstly, a novel two-order filter is designed for each agent to produce informational estimates from the leader, such that a connectivity matrix is not used in the controller’s design, solving the difficultly caused by the time-varying control coefficients in a MAS with a directed graph. Secondly, combined with the novel filters, barrier functions are used to construct the distributed controller to deal with the completely unknown system nonlinearities, resulting in the global consensus of the MAS. Finally, it is rigorously proved that the consensus of the MAS is achieved while guaranteeing the prescribed tracking-error performance. Two examples are given to verify the effectiveness of the proposed method, in which the simulation results demonstrate the claims. Full article

(This article belongs to the Special Issue Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms)

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17 pages, 5893 KiB

Open AccessArticle

Studies on Multi-Constraints Cooperative Guidance Method Based on Distributed MPC for Multi-Missiles

by Mingyu Cong, Xianghong Cheng, Zhiquan Zhao and Zhijun Li

Appl. Sci. 2021, 11(22), 10857; https://doi.org/10.3390/app112210857 - 17 Nov 2021

Cited by 5 | Viewed by 2585

Abstract

Cooperative terminal guidance with impact angle constraint is a key technology to achieve a saturation attack and improve combat effectiveness. The present study envisaged cooperative terminal guidance with impact angle constraint for multiple missiles. In this pursuit, initially, the three-dimensional cooperative terminal guidance [...] Read more.

Cooperative terminal guidance with impact angle constraint is a key technology to achieve a saturation attack and improve combat effectiveness. The present study envisaged cooperative terminal guidance with impact angle constraint for multiple missiles. In this pursuit, initially, the three-dimensional cooperative terminal guidance law with multiple constraints was studied. The impact time cooperative strategy of virtual leader missile and follower missiles was designed by introducing virtual leader missiles. Subsequently, based on the distributed model prediction control combined with the particle swarm optimization algorithm, a cooperative terminal guidance algorithm was designed for multiple missiles with impact angle constraint that met the guidance accuracy. Finally, the effectiveness of the algorithm was verified using simulation experiments. Full article

(This article belongs to the Special Issue Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms)

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18 pages, 5598 KiB

Open AccessArticle

Optimal Cruise Characteristic Analysis and Parameter Optimization Method for Air-Breathing Hypersonic Vehicle

by Hesong Li, Yunfan Zhou, Yi Wang, Sha Du and Shangcheng Xu

Appl. Sci. 2021, 11(20), 9565; https://doi.org/10.3390/app11209565 - 14 Oct 2021

Cited by 2 | Viewed by 1146

Abstract

There is an optimal cruise point with the lowest fuel consumption when a hypersonic vehicle performs steady-state cruise. The optimal cruise point is composed of the optimal cruise altitude and the optimal cruise Mach number, and its position is closely related to the [...] Read more.

There is an optimal cruise point with the lowest fuel consumption when a hypersonic vehicle performs steady-state cruise. The optimal cruise point is composed of the optimal cruise altitude and the optimal cruise Mach number, and its position is closely related to the aircraft parameters. This article aims to explore the relationship between the optimal cruise point and relevant aircraft parameters and establish a model to describe it, then an aircraft parameter optimization method of adjusting the optimal cruise point to the target position is explored with validation by numerical simulation. Firstly, a parameterized model of a hypersonic vehicle is obtained as a basis, then the optimal cruise point is obtained by the optimization method, and the influence of a single aircraft parameter on the optimal point is investigated. In order to model the relationship between the aircraft parameters and the optimal cruise point, a neural network is employed. Finally, the model is used to optimize the aircraft parameters under multiple constraints. The results show that, after aircraft parameters optimization, the optimal cruise point is located at the predetermined position and the fuel consumption is lower, which provides a new perspective for the design of aircraft. Full article

(This article belongs to the Special Issue Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms)

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