Continuous Coverage Control of UAVs Based on Cluster Reconfiguration in the Context of Counterattack

UAV clusters are the main application form of multi-intelligence for the intelligent era. Especially in the context of strikes, UAV clusters become an efficient weapon resource on the battlefield by their flexible mobility, no casualties, and low cost. This paper studies the UAV continuous coverage control method based on cluster reconfiguration in the strike context. Firstly, a consistent formation control law for UAVs based on 4-connection topology is proposed based on consistency theory to achieve cluster control and continuous coverage of UAVs. Secondly, a virtual repair trajectory is designed based on the disengaged formation set, and a continuous coverage control law is designed based on the sliding mode theory to solve the topological damage and discontinuous coverage of UAV clusters. Finally, simulation experiments show that the proposed method has obvious performance improvement in UAV cluster reconfiguration convergence time and continuous coverage control, effectively guaranteeing the robustness, destructiveness, and timeliness of UAV cluster reconfiguration.