3D Self-Triggered-Organized Communication Topology Based UAV Swarm Consensus System With Distributed Extended State Observer

In this work, to address the communication topology alteration caused by unit failure or loss in the multi-UAV cooperation control system, a 3D self-triggered-organized topology (3D-STOT) based UAV swarm consensus system with distributed extended state observer (DESO) is developed. First, we propose a novel 3D self-organized topology (3D-SOT) generation method that automatically constructs adequate topology networks from swarm position information without manual intervention, with a computational complexity of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$O(n^{4})$</tex-math></inline-formula>. This network maintains connectivity even when a certain number of UAV failures or losses occur. Next, a 3D-STOT updating strategy is introduced to automatically update the topology based on real-time location under predefined trigger conditions. This updating strategy enables the 3D-SOT generating method to flexibly adapt to swarms of varying scales and significantly enhances the swarm system's ability to handle unexpected situations. Additionally, DESO not only supports real-time 3D-STOT updates but also assists the double-loop Sliding Mode Controller (SMC) in achieving consensus formation. Finally, the effectiveness of the proposed method is verified by simulation experiments.