基于编队控制的自适应HELLO更新算法

在无人机（UAVs）编队自组织网络中，针对无人机之间位置信息更新周期不合理，从而导致编队控制不稳定和控制开销过大的问题，提出一种基于无人机编队控制的自适应HELLO更新算法。该算法应用编队控制稳定性理论推导出无人机组成期望编队的控制延时上限，结合该延时上限和编队运动状态自适应地设定HELLO更新周期。仿真结果表明，本文提出的算法与固定HELLO更新周期算法相比，既能保证在组编控制过程的稳定性，又能实时维护稳定阶段的链路，并且显著减少网络中不必要的控制开销。

Formation control-based adaptive update algorithm of HELLO message

In the unmanned aerial vehicles (UAVs) formation ad hoc network, in order to solve the instability of formation control problem and reduce the large control overhead, both of which are caused by unreasonable update cycle of the position information, a formation control-based adaptive update algorithm of HELLO message is proposed. The algorithm employs the maximum tolerable delay which is deduced by the formation control stability theory for formation control, and combines with the formation stability theory to set an adaptive HELLO update cycle. The simulation results demonstrate that, compared with the fixed HELLO update algorithm, the proposed algorithm not only ensures the stability in the formation forming stage, but also maintains the link availability in the formation stability stage and effectively reduces the unnecessary control overhead.