Distributed Cooperative Strategy of UAV Swarm Without Speed Measurement Under Saturation Attack Mission

In this article, a distributed cooperative strategy based on Saturation Attack Mission (SAM) with Unmanned Aerial Vehicle (UAV) swarm is investigated. Little research has been conducted in this area, especially in relation to aerial moving targets. Firstly, the mathematical model of UAV swarm and the problem of distributed fencing under SAM are established, respectively. Secondly, aimed at target's defense system, a calculation model of assigned UAVs is designed to ensure that the minimum number of UAVs is required to carry out the mission. Then, considering one situation that entire swarm is not loaded speed measurement and at least one UAV can detect moving-target's position, a distributed cooperative control scheme without a preset formation is proposed. It includes distributed position observer and fencing controller, which inspired by swarm behaviors and consensus theory. Furthermore, the speed information of each UAV is replaced by introducing an auxiliary state. This controller realizes target-fencing without collision between UAVs. Finally, the effectiveness of the developed strategy is demonstrated through numerical simulations.