Design an algorithm for analyzing the stability of information exchange between UAVS in the high-order agent formation

Abstract

nteraction of vehicles in the formation allows to perform tasks that are difficult or impossible for individual mobile agents. It is proved that for reliable functioning of mobile agent formations, it is necessary to ensure the stability of the system when the dynamic parameters of the agents vary and interference of small and large levels is affected. This problem is particularly relevant for a formation that is affected by complex unstable environmental conditions, in particular, for the formation of unmanned aerial vehicles (UAVs). To study the parametric stability of the formation of high-order agents with variable dynamic parameters, a new method and algorithm based on the Nyquist frequency criterion and the piecewise linear approximation of the hodograph was developed. A computational experiment was performed to analyze the stability of formations with inertial characteristics of filters of various types and orders from the 1st to the 10th. The verification of the calculated boundaries of the stability regions of mobile agent formations with different inertial properties using the Routh-Hurwitz criterion and the D-partition method confirmed the correctness of the results obtained and the effectiveness of the proposed method.

Keywords

• multi-agent formation
• mobile agent formation
• unmanned aerial vehicle (uav)
• information exchange
• parametric stability
• nyquist criterion