A Specified-Time Cooperative Optimal Control Approach to Unmanned Aerial Vehicle Swarms
Ao Wu, Rennong Yang, Huanyu Li, Maolong Lv · 2023
Aiming at the space-time cooperation problem of unmanned aerial vehicle swarms attacking sea surface moving targets, a specified-time cooperative optimal control approach is proposed. The relative motion between each UAV and its neighbors is transformed into an optimal tracker with a specified end time. Different quadratic cost functions are designed for the two control objectives, which are strike formation generation and strike formation maintenance with specified time parameters, respectively. The control law is solved by Runge-Kutta method, which could drive the UAV swarms to accurately generate strike formation at the specified time realizing simultaneous strike and maintain the strike formation in the specified period realizing continuous strike. The simulation results show that the UAV swarms could generate and maintain the desired formation at the specified time and track the stationary and moving targets.