Heterogeneous Control Method of Multi-Cluster Manned-Unmanned System over Passive Switching Topology
Mengzhen Huo, Haibin Duan, Hao Wu · 2024
Multi-cluster manned-unmanned system is in urgent need for the coordination of manned aircrafts and unmanned aerial vehicles (UAV). This paper proposed the heterogeneous control method to realize the flexible topology switching in the heterogeneous team. The distributed formation controller and the cluster space controller have been proposed to conduct the formation maintenance and reconstruction. Theoretical analysis is provided to verify the feasibility of the distributed formation controller. This heterogeneous system could render motion matching of UAVs with the manned aircrafts executing human-intelligence intention as well as endow the unmanned systems with individually flexible behaviors. The simulation results obtained from the designed experimental scenario have shown the effectiveness of the system and the controllers.