CN109491402B - Multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control - Google Patents

Abstract

The present disclosure provides a multi-unmanned aerial vehicle (UAV) cooperative target monitoring and control method based on cluster control, which enables N UAVs to start from their respective initial positions and start at any initial speed, and to perform circular motions with different radii around the same center. And when the steady state is reached, N UAVs enter the synchronous monitoring mode or the balanced monitoring mode. The multi-UAV cooperative target monitoring and control method based on cluster control provided by the present disclosure can enable multiple UAVs to perform cooperative operations, enhance the patrol effect and improve the system reliability.

Description

Multi-UAV cooperative target monitoring and control method based on swarm control

technical field

The present disclosure relates to the technical field of multi-UAV swarm control, in particular to a multi-UAV cooperative target monitoring and control method based on swarm control.

Background technique

The use of UAV to fly around a fixed target has a wide range of applications. In the military field, it can be used for reconnaissance and surveillance of enemy military targets, and can also be used to provide air support and protection for our personnel; in the civilian field, UAVs equipped with image acquisition equipment have been widely used in electric towers, etc. target inspection. If multiple UAVs are used to fly around a fixed target with different radii, an inner ring and an outer ring are formed. In the military, the outer ring UAV can be used as a defense UAV, and the inner ring UAV is used in practical applications. The upper outer ring for civilian use can also be used as a backup and assistance for the inner ring UAV to improve system reliability and work efficiency.

The fly-around scheme in the prior art generally uses one UAV to fly around the target, or control multiple UAVs in formation.

However, in the process of realizing the present disclosure, the inventors of the present application found that the work efficiency and system reliability of using one drone to fly around the target are far lower than those of multiple drones. Most of them are manually controlled by staff. Even if there are a small number of automated patrol schemes, the degree of autonomy is not high; although the multi-UAV formation control is the coordinated autonomous flight of multiple UAVs, most of the formation forms are triangular formations, etc. , even if there is a circular formation, the coordinated control of the phase (heading angle) of the UAVs cannot be achieved, that is, it is impossible to make all UAVs perform circular motion while keeping their phases synchronized (all UAVs have the same heading angle) or equilibrium state (the heading angles of all UAVs are evenly distributed on a circle).

public content

(1) Technical problems to be solved

Based on the above technical problems, the present disclosure provides a multi-UAV cooperative target monitoring and control method based on cluster control, so as to alleviate that most of the UAV control solutions in the prior art are manually controlled by staff, which cannot be achieved in the degree of autonomy. The technical problem of keeping all the drones in a circular motion while keeping their phases in sync or in balance.

(2) Technical solutions

The present disclosure provides a multi-unmanned aerial vehicle (UAV) cooperative target monitoring and control method based on cluster control, which enables N UAVs to start from their respective initial positions and start at any initial speed, and to perform circular motions with different radii around the same center. And when the steady state is reached, N said UAVs enter the synchronous monitoring mode or the balanced monitoring mode, N≥2, including:

Step A: establish a target equation, so that the phase of the N UAVs reaches the desired phase distribution when the target equation obtains a minimum value;

Step B: Find the descending direction in the process of obtaining the minimum value of the target equation;

Step C: Based on the descending direction, design the control rate of N described UAVs;

Step D: iteratively calculate the control rate, and send the control rate corresponding to the target equation to N UAVs;

Step E: Repeat Step D until N UAVs terminate the monitoring mode.

In some embodiments of the present disclosure, in the step A, the target equation is defined by the following multiple equations:

z_m＝x_m+iy_m，m＝1，...，N，c＝[c₁，...，c_N]^T，c_m表示N架所述无人机中第m架无人机以固定的巡航速度v_m和角频率ω_c进行圆周运动时，该圆形轨迹的圆心，θ＝[θ1，...，θ_N]^T，θ的每一个元素对应每个无人机的相位角；当F_C(θ)取得极小值时，N架所述无人机围绕一个共同的圆心做圆周运动，当f_pθ(θ)到达其惟一的极大值点时，N架所述无人机进入同步监视模式，当f_pθ(θ)到达其惟一的极小值点时，N架所述无人机进入平衡监视模式。in,

z _m =x _m +iy _m , m=1,..., N, c=[c ₁ ,..., c _N ] ^T , cm represents the _m -th unmanned drone among the N drones When the UAV performs circular motion at a fixed cruise speed v _m and angular frequency ω _c , the center of the circular trajectory, θ=[θ1,...,θ _N ] ^T , each element of θ corresponds to each UAV When F _C (θ) gets a minimum value, N UAVs make circular motions around a common center, when f _pθ (θ) reaches its only maximum point, N UAVs The UAVs enter the synchronous monitoring mode, and when f _pθ (θ) reaches its only minimum point, N UAVs enter the balanced monitoring mode.

In some embodiments of the present disclosure, in the step A:

The target equation in synchronous monitoring mode is as follows:

当F_A(θ)取得极小值时，F_C(θ)取得极小值，且

到达其惟一的极大值点；in:

When F _A (θ) takes a minimum value, F _C (θ) takes a minimum value, and

reach its unique maximum point;

The objective equation in the balance monitor mode is as follows:

当F_B(θ)取得极小值时，F_C(θ)取得极小值，且

到达其惟一的极小值点；in:

When F _B (θ) takes a minimum value, F _C (θ) takes a minimum value, and

reaches its only minimum point;

in,

In some embodiments of the present invention, in the step B, according to the Levenberg-Marquardt algorithm, the descending direction in the process of obtaining the minimum value of the objective equation is obtained.

In some embodiments of the present disclosure, in step B:

The descending direction of the target equation in synchronous monitoring mode is as follows:

where J _A is the first-order partial derivative of f _A (θ),

The descending direction of the target equation in the balance monitoring mode is as follows:

where J _B is the first-order partial derivative of f _B (θ),

In some embodiments of the present disclosure, in the step C:

The control rate in synchronous monitoring mode is as follows:

θ _k+1 = θ _k +d _{A, k} + ω _c

The control rate in balanced monitoring mode is as follows:

θ _k+1 = θ _k +d _{B, k} + ω _c

ω_c为N个无人机最终期望的做圆周运动的角速度，k+1、k表示N架所述无人机的第k+1和k次采样时刻。in,

ω _c is the final expected angular velocity of the N UAVs to perform circular motion, and k+1 and k represent the k+1 and k sampling times of the N UAVs.

In some embodiments of the present disclosure, the step D includes: step D1: parameter initialization, including: setting the cruising speed v _m and the angular frequency ωc of each of the UAVs, m=1, 2, .. ., N, let k=0; Step D2: Let k=k+1; Step D3: Iteratively calculate the control rate designed in Step C; Step D4: If the function value of the objective equation does not decrease, Update the damping coefficient, and return to step D3 to perform the iterative operation again, otherwise go to step D5; step D5: if the function value of the objective equation obtains a minimum value, the control rate obtained at this time is fed back to the N UAVs, And return to step D2, otherwise continue to perform the iterative operation.

In some embodiments of the present disclosure, wherein: in the step D1, parameter initialization further includes: let β∈(0,1); in the step D4, let Fnew=F(θ _k+1 ), the The criterion for determining that the function value of the objective equation is not reduced is: Fnew>F(θ _k )+βg ^T (θ _k )d _k .

In some embodiments of the present disclosure, wherein: in the step D1, the parameter initialization further includes: setting the damping coefficient μ>0, υ>1: in the step D4, the method of updating the damping coefficient is: let μ=μ *υ.

In some embodiments of the present disclosure, wherein: in the step D1, the parameter initialization further includes: setting the precision parameter eps, and making it approximate to 0; in the step D5, let tol=||d _k || ; The judgment basis for obtaining the minimum value of the function value of the objective equation is: tol≤eps.

(3) Beneficial effects

It can be seen from the above technical solutions that the cluster control-based multi-UAV cooperative target monitoring and control method provided by the present disclosure has one or a part of the following beneficial effects:

(1) The multi-UAV cooperative target monitoring and control method based on cluster control provided by the present disclosure can enable multiple UAVs to perform cooperative operations and enhance the patrol effect (multiple UAVs cooperate to patrol, which can make up for one unmanned aircraft). The shortcomings of insufficient drone patrol accuracy) and improve system reliability (even if a drone has a problem, other drones can still work normally);

(2) Compared with the manual remote control scheme in the prior art, the multi-UAV cooperative target monitoring and control method based on cluster control provided by the present disclosure has a higher degree of autonomy;

(3) The multi-UAV cooperative target monitoring and control method based on swarm control provided by the present disclosure can make all UAVs perform circular motion while keeping their phases in a synchronized state or a balanced state, and the two phase distributions Compared with using multiple UAVs to fly around without relevant phase coordination, they have their own advantages. For example, if multiple UAVs have a synchronous phase distribution, the UAVs in the inner circle can be used to perform tasks, and the UAVs in the outer circle can be used to perform tasks. The man-machine can be used to protect the drones in the inner circle and perform peripheral alerts; if multiple drones have a balanced phase distribution, this coordinated flight with balanced phase distribution can be used to protect the target at the center of the circle. The UAV flies in a uniformly distributed phase on multiple concentric circles, which greatly increases the difficulty of the enemy UAV penetration attack;

(4) The multi-UAV cooperative target monitoring and control method based on cluster control provided by the present disclosure can be used in application scenarios such as flying around detection of electrical towers in the field of electric power inspection, and reconnaissance and monitoring of enemy military targets in the military field.

Description of drawings

FIG. 1 is a flow chart of steps of a method for monitoring and controlling multi-UAV cooperative targets based on swarm control provided by the present disclosure.

FIG. 2 is an operational logic structure diagram of a multi-UAV cooperative target monitoring and control method based on cluster control provided by the present disclosure.

FIG. 3 is a simulation result diagram of controlling three unmanned aerial vehicles to realize a synchronous monitoring mode by using the multi-UAV cooperative target monitoring and control method based on cluster control provided by the present disclosure.

FIG. 4 is a simulation result diagram of controlling two UAVs to realize a balanced monitoring mode by using the multi-UAV cooperative target monitoring and control method based on cluster control provided by the present disclosure.

Detailed ways

The multi-UAV cooperative target monitoring and control method based on cluster control provided by the present disclosure can enable multiple UAVs to perform cooperative operations, enhance the patrol effect and improve the system reliability.

In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the specific embodiments and the accompanying drawings.

The present disclosure provides a multi-unmanned aerial vehicle (UAV) cooperative target monitoring and control method based on cluster control, which enables N UAVs to start from their respective initial positions and start at any initial speed, and to perform circular motions with different radii around the same center. And when the steady state is reached, N UAVs enter the synchronous monitoring mode (all UAVs have the same heading angle) or the balanced monitoring mode (the heading angles of all UAVs are evenly distributed on a circle), N≥2 , as shown in Figure 1, including:

Step A: establish a target equation, so that the phase of the N UAVs reaches the desired phase distribution when the target equation obtains a minimum value;

Step B: Find the descending direction in the process of obtaining the minimum value of the target equation;

Step C: Based on the descending direction, design the control rate of N UAVs;

Step D: iteratively calculate the control rate, and send the control rate corresponding to the target equation to N UAVs;

Step E: Repeat step D until N drones terminate the monitoring mode.

In order to make the multi-UAV cooperative target monitoring and control method based on swarm control provided by the embodiment of the present disclosure easier to understand, the following describes the multi-UAV cooperative target monitoring and control method based on swarm control provided by the embodiment of the present disclosure by establishing a system model. To explain:

In a set of UAV swarms containing N UAVs, the system model of the m-th UAV is described as:

是第m个无人机的位置坐标，m＝1，...，N。Δt是采样时间，假定无人机m有一个正的定常巡航速度v_m＞0，且

是其控制输入，为了便于分析，在本实施例中，省略Δt，并且上标m和下标m具有相同的含义。where θm is the phase angle of the ^mth UAV, ^xm ,

are the position coordinates of the mth UAV, m=1,...,N. Δt is the sampling time, assuming that the UAV m has a positive steady cruise speed v _m > 0, and

is its control input. For the convenience of analysis, in this embodiment, Δt is omitted, and the superscript m and the subscript m have the same meaning.

In order to define the phase distribution of the two desired forms (synchronous surveillance mode and balanced surveillance mode) that a set of N UAVs need to form, the parameter p _θ is first defined by:

The synchronization phase distribution is defined as: when the phases of all UAVs are the same, for m, n = 1, ..., N, as t→∞, |p _θ |→1, that is: as t→ ∞, θ _m - θ _n → 0;

The balanced phase distribution is defined as: the phase value of each UAV is such that as t→∞, |p _θ |→0.

Assuming that the m-th UAV performs a circular motion with a fixed cruising speed v _m and angular frequency ω _c , the radius of the circle r _m =v _m /|ω _c |, let z _m =x _m +iy _m , we can obtain Find the center of this circle as

令c＝[c₁，...，c_N]^T，当且仅当Define the projection matrix

Let c=[c ₁ , . . . , c _N ] ^T , if and only if

When , the centers of all UAV trajectories will coincide. Based on this, the following target equation is defined

定义如下：in

Defined as follows:

For m=1, _. On this basis, in order to make the phases of multiple UAVs reach the desired phase distribution, the following equations of the target are defined

达到其惟一的极大值点时，所有无人机的相位角相同；当

达到其惟一极小值点时，所有无人机的相位平衡。Among them, θ=[θ ₁ ,...,θ _N ] ^T , each element of θ corresponds to the phase angle of each UAV; when

When reaching its unique maximum point, all UAVs have the same phase angle; when

The phases of all drones are balanced when they reach their only minimum point.

Therefore, in some embodiments of the present disclosure, in step A, the target equation is defined by the following equations:

到达其惟一的极大值点时，N架所述无人机进入同步监视模式，当

到达其惟一的极小值点时，N架所述无人机进入平衡监视模式。When F _C (θ) achieves a minimum value, the N UAVs make a circular motion around a common center, and when

When reaching its unique maximum point, N said UAVs enter the synchronous monitoring mode, when

When reaching its only minimum point, the N said UAVs enter the balance monitoring mode.

在步骤A中：In some embodiments of the present disclosure, in order to achieve the above two goals: make all UAVs make circular motions around the same center with different radii and achieve two desired phase distribution modes, the following objective equations are designed

In step A:

The target equation in synchronous monitoring mode is as follows:

当F_A(θ)取得极小值时，F_C(θ)取得极小值，且

到达其惟一的极大值点；in:

When F _A (θ) takes a minimum value, F _C (θ) takes a minimum value, and

reach its unique maximum point;

The objective equation in the balance monitor mode is as follows:

当F_B(θ)取得极小值时，F_C(θ)取得极小值，且

到达其惟一的极小值点；in:

When F _B (θ) takes a minimum value, F _C (θ) takes a minimum value, and

reaches its only minimum point;

的极大值，且

where U _mαx is

the maximum value of , and

In some embodiments of the present disclosure, the process of finding the minimum value of the objective function F _A (θ) or F _B (θ) is actually solving the least squares problem, so in step B, it is more effective to solve such problems by using The Levenbeg-Marquardt method is used to find the descending direction in the process of obtaining the minimum value of the objective equation.

In some embodiments of the present disclosure, in the step B, according to the Levenbeg-Marquardt method:

The descending direction of the target equation in synchronous monitoring mode is as follows:

where J _A is the first-order partial derivative of f _A (θ),

The descending direction of the target equation in the balance monitoring mode is as follows:

where J _B is the first-order partial derivative of f _B (θ),

In some embodiments of the present disclosure, in order to allow the drone to perform circular motion, based on the above-mentioned descending direction, in step C:

The control rate in the synchronous monitoring mode is designed as follows:

θ _k+1 = θ _k +d _{A, k} + ω _c

The control rate in design balance monitoring mode is as follows:

θ _k+1 = θ _k +d _{B, k} + ω _c

ω_c为N个无人机最终期望的做圆周运动的角速度，k+1、k表示N架所述无人机的第k+1和k次采样时刻。in,

ω _c is the final expected angular velocity of the N UAVs to perform circular motion, and k+1 and k represent the k+1 and k sampling times of the N UAVs.

In some embodiments of the present disclosure, as shown in FIG. 2 , step D includes:

Step D1: parameter initialization, including: setting the cruising speed _vm of each UAV (that is, the initial cruising speed of each UAV at the beginning of the cooperative control) and the angular frequency ω _c (that is, the final desired multiple The angular velocity of the UAV doing circular motion), m=1, 2, ..., N, let k=0, β∈(0,1), damping coefficient μ>0, coefficient υ>1, set the accuracy parameter eps, and make it close to 0 (for example: eps=10 ^-6 );

Step D2: let k=k+1;

Step D3: performing an iterative operation on the control rate designed in step C;

Step D4: Let Fnew=F(θ _k+1 ), if Fnew>F(θ _k )+βg ^T (θ _k )d _k , it means that the function value of the objective equation does not decrease, and the damping coefficient is updated to make μ= μ*υ, and return to step D3 to perform the iterative operation again, otherwise go to step D5;

Step D5: Let tol=||d _k ||, if tol≤eps, it means that the function value of the objective equation has obtained a minimum value at this time, and the control rate obtained at this time is fed back to N UAVs, and returns to the step D2, otherwise continue to perform the iterative operation.

The following two specific embodiments are used to verify the effectiveness of the multi-UAV cooperative target monitoring and control method based on cluster control provided by the embodiments of the present disclosure:

Embodiment 1: In this embodiment, the initial speed and phase angle of the UAV swarm composed of 3 UAVs are respectively set as v ₁ =0.3m/s, v ₂ =0.6m/s, v ₃ =0.9m/s, θ ₁ =0, θ ₂ =π/4, θ ₃ =π/2, the desired final angular velocity of all UAVs is ω _c =0.3, the algorithm parameters are set as β = 0.4, μ = 8, υ = 1.5, as shown in Figure 3, all UAVs start from different initial positions with different initial phases, and make circular motions around the same center. Finally, the phases of all UAVs reach a synchronous phase distribution state.

Embodiment 2: In this embodiment, the initial speed and phase angle of the UAV swarm composed of two UAVs are set as v ₁ =0.3m/s, v ₂ =0.6m/s, θ ₁ = 0, θ ₂ = π/4, the desired final angular velocity of all UAVs is ω _c = 0.3, and the algorithm parameters are set to β = 0.4, μ = 8, υ = 1.5, as shown in Figure 4, all unmanned The drones start from different initial positions with different initial phases, and make circular motions around the same center. In the end, all drones achieve balanced phase distribution while achieving concentric motion.

Based on the above description, those skilled in the art should have a clear understanding of the multi-UAV cooperative target monitoring and control method based on cluster control provided by the embodiments of the present disclosure.

To sum up, the multi-UAV cooperative target monitoring and control method based on cluster control provided by the present disclosure realizes the cooperative operation of multiple UAVs and enhances the patrol by establishing the target equation and obtaining the minimum value of the target equation. effect and improve system reliability.

It should also be noted that the directional terms mentioned in the embodiments, such as "up", "down", "front", "rear", "left", "right", etc., only refer to the directions of the drawings, not used to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are denoted by the same or similar reference numbers. Conventional structures or constructions will be omitted when it may lead to obscuring the understanding of the present disclosure.

Moreover, the shapes and sizes of the components in the figures do not reflect the actual size and proportion, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Similarly, it will be appreciated that in the above description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together into a single embodiment, figure, or its description. However, this method of disclosure should not be interpreted as reflecting an intention that the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the foregoing claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of the present disclosure.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present disclosure in detail. It should be understood that the above-mentioned specific embodiments are only specific embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included within the protection scope of the present disclosure.

Claims (9)

1. A multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control enables N unmanned aerial vehicles to start from respective initial positions and start at any initial speed, circular motion is carried out around the same circle center by different radiuses, when a stable state is achieved, the N unmanned aerial vehicles enter a synchronous monitoring mode or a balance monitoring mode, N is larger than or equal to 2, and the method comprises the following steps:

step A: establishing a target equation, and enabling phase angles of the N unmanned aerial vehicles to achieve expected phase distribution when the target equation calculates a minimum value;

and B: solving the descending direction of the target equation in the process of obtaining the minimum value;

and C: designing the control rate of the N unmanned aerial vehicles based on the descending direction;

step D: iteratively calculating the control rate, and sending the control rate corresponding to the target equation to N unmanned aerial vehicles;

step E: repeating the step D until the N unmanned aerial vehicles terminate the monitoring mode;

in the step C:

the control rate in the synchronous monitoring mode is as follows:

θ_k+1＝θ_k+d_A，k+ω_c；

the control rate in the balance monitor mode is shown as follows:

θ_k+1＝θ_k+d_B，k+ω_c；

wherein d is_AFor the descending direction of the target equation in the synchronous monitoring mode, d_BBalancing a descending direction of the target equation in the monitoring mode; theta is ═ theta₁，...，θ_N]^TEach element of θ corresponds to a phase angle of each drone;

ω_cand (4) for the final expected angular velocities of the N unmanned planes making circular motion, k +1 and k represent the k +1 and k sampling moments of the N unmanned planes.

2. The cooperative target monitoring and controlling method of multiple drones based on cluster control according to claim 1, wherein in the step a, the target equation is defined by a plurality of equations as follows:

wherein,

z_m＝x_m+iy_m，m＝1，...，N，c＝[c₁，...，c_N]^Tcm represents the mth of the N drones at a fixed cruising speed v_mAnd angular frequency ω_cWhen circular motion is carried out, the circle center of the circular motion track;

when F is present_C(theta) when obtaining the minimum value, N unmanned aerial vehicles do circular motion around a common circle center, and when the minimum value is obtained

To its onlyWhen the maximum value is some, N unmanned aerial vehicles enter a synchronous monitoring mode, and when the maximum value is some, the unmanned aerial vehicles enter a synchronous monitoring mode

And when the only minimum value point of the unmanned aerial vehicles is reached, the N unmanned aerial vehicles enter a balance monitoring mode.

3. The method for monitoring and controlling the cooperative target of the multiple unmanned aerial vehicles based on the cluster control as claimed in claim 2, wherein in the step A:

the objective equation in the synchronous monitoring mode is as follows:

wherein:

when F is present_AWhen (theta) takes a minimum value, F_C(theta) takes a minimum value, and

reach its unique maximum point;

the target equation in the equilibrium monitoring mode is as follows:

wherein:

when F is present_BWhen (theta) takes a minimum value, F_C(theta) takes a minimum value, and

reach its unique minimum point;

wherein,

4. the cooperative target monitoring and controlling method of multiple unmanned aerial vehicles based on cluster control as claimed in claim 3, wherein in step B, the descending direction of the target equation in the process of obtaining the minimum value is obtained according to a Levenberg-Marquardt algorithm.

5. The cooperative target monitoring and controlling method of multiple drones based on cluster control according to claim 4, wherein in step B:

the falling direction of the objective equation in the synchronous monitoring mode is shown as follows:

wherein, J_AIs f_AThe first partial derivative of (theta) is,

the descending direction of the target equation in the balance monitoring mode is shown as follows:

wherein, J_BIs f_BThe first partial derivative of (theta) is,

6. the method for monitoring and controlling the cooperative target of the multiple unmanned aerial vehicles based on the cluster control as claimed in claim 1, wherein the step D comprises:

step D1: initializing parameters, including: setting cruise speed v of each unmanned aerial vehicle_mWith angular frequency omega_cN, let k equal to 0;

step D2: let k be k + 1;

step D3: performing iterative operation on the control rate designed in the step C;

step D4: if the function value of the target equation is not reduced, updating the damping coefficient, returning to the step D3 to repeat iterative operation, otherwise, entering the step D5;

step D5: and if the function value of the target equation obtains a minimum value, feeding the control rate obtained at the moment back to the N unmanned aerial vehicles, and returning to the step D2, otherwise, continuously executing iterative operation.

7. The cluster control based multi-drone cooperative target monitoring control method of claim 6, wherein:

in step D1, the parameter initialization further includes: let β ∈ (0, 1);

in the step D4, Fnew is made equal to F (θ)_k+1) The criterion that the function value of the objective equation is not reduced is as follows: fnew > F (theta)_k)+βg^T(θ_k)d_k。

8. The cluster control based multi-drone cooperative target monitoring control method of claim 7, wherein:

in step D1, the parameter initialization further includes: let damping coefficient mu > 0, upsilon > 1:

in step D4, the manner of updating the damping coefficient is as follows: let μ ═ ν.

9. The cluster control based multi-drone cooperative target monitoring control method of claim 6, wherein:

in step D1, the parameter initialization further includes: setting a precision parameter eps and enabling the precision parameter eps to approach 0;

the steps areIn step D5, let tol | | | D_kL; the judgment basis for obtaining the minimum value of the function value of the target equation is as follows: tol is less than or equal to eps.

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