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In view of the deficiencies of traditional methods to meet the requirement of real-time performance, a Graph Theory based method is proposed for UAV cooperative control structure establishment. A storage matrix is first generated from the communication network structure. Then the spanning tree algorithm is used to formulate the control relationship spanning tree of UAV swarm. A control relationship reconstruction strategy is further investigated to deal with abnormal situations where some UAV individuals in the swarm are damaged. Numerical simulation has been conducted, which validates the consistency and effectiveness of the proposed method. Introduction Control structure design is the primary problem of UAV swarm cooperative control technology [1-4]. The technical difficulties lie in the realization of coordination consensus [5-8]. In view of limited distance communication and limited sensors in multi-robot system, R. Fierro designed a four-layer collaborative architecture by using the self-adaptive controller, and put forward a coordination control algorithm based on graph theory to deal with the unpredictable dynamic characteristics in robots cooperative process [9]. Based on dynamic system graph representation, Tamas Keviczky transformed the cooperative control issue into a constrained optimization issue and put forward a coordination control framework for RHC (Receding Horizon Control), leading to a strict mathematical framework representation of the distributed control [10]. By dividing the UAV control issue into hierarchies with standard task components, S. Rathinam proposed a hybrid active control architecture for multi-UAV system, which realized the UAV cooperative consensus [11]. W. Ren extended cooperative consensus of the first-order dynamic system and introduced a multi-UAV cooperative consensus method for second-order dynamic systems, making it possible to achieve formation keeping only with message exchange between adjacent two UAVs [12]. However, the control algorithms mentioned above are complicated and unable to generate control structure in real-time to maintain security of UAV swarm operations. Therefore, their practical engineering applications are doubted. In this study, we proposed to use Graph theory to extend two UAVs’ cooperation in leader-follower mode to multi-UAVs’ cooperation [13-16], in order to fulfill realization of automated and real-time generation and reconstruction of cooperative control structure of UAV swarms.

Structure Design for UAV Swarm Cooperative Control Based on Graph Theory