UAV group control protocol with adaptive consensus

Abstract

In this paper, a modified consensus protocol algorithm is proposed for controlling a group of identical unmanned aerial vehicles (UAVs), which have been subjected to interfering signals during coordinate information exchange, using an unknown parameter in the consensus protocol. The maximum levels of interfering signals in the proposed protocol were adjusted by incorporating a hysteresis function with a dead zone consistent with the initial coordinates and the interfering signal levels. An adaptation algorithm is proposed to address a priori uncertainty regarding the consensus parameters, involving the correction of an unknown parameter by eliminating control signals exhibiting false sign changes. This correction relies on the coordinates in the phase plane, indicating that the delay in maneuver execution occurs at the beginning of the maneuver. Furthermore, by modeling synchronized motion, UAV group consensus is demonstrated for an ideal case devoid of a priori uncertainty regarding control protocol parameters, interfering signals, or consequences. The convergence of the adaptation algorithm was assessed by defining a vector function to track parameter changes during tuning. The monotonically decreasing nature of the resulting curve, along with the finite duration of the tuning process, provides confirmation of the convergence of the adaptation algorithm.