南京航空航天大学学报（英文版）2026，Vol.43Issue(2)：145-157,13.DOI:10.16356/j.1005-1120.2026.02.001
基于欧椋鸟群聚集机制的无人机分散式协同控制
Decentralized Cooperative Control of Unmanned Aerial Vehicles Based on Emergent Mechanism of Starlings
摘要
Abstract
A novel decentralized control approach for unmanned aerial vehicles(UAVs)based on emergent collective behavior identified in starling flocks is proposed in this paper.With the self-organizing principle of starling flocking separation,alignment and cohesion behaviors,a fully distributed leaderless control is designed based on local interaction only.It is augmented by an adaptive switching event-triggered communication protocol,a novelty which greatly reduces the communication load,yet maintains swarming cohesion and formation stability rigorously.Via the Lyapunov stability theory,the formation error can converge to a boundary range,robustness to disturbances and partial communication burden.Ultimately,the numerical simulations are presented to verify the effectiveness of the theoretical results.关键词
欧椋鸟群/分散控制/切换事件触发通信/无人集群控制Key words
starling flocking/decentralized control/switching event-triggered communication/ummanned aerial vehicle(UAV)swarm control分类
信息技术与安全科学引用本文复制引用
梅宇,段海滨..基于欧椋鸟群聚集机制的无人机分散式协同控制[J].南京航空航天大学学报（英文版）,2026,43(2):145-157,13.基金项目
This work was supported in part by the National Natural Science Foundation of China(Nos.624B2013,62350048,U2541218,T2121003,62533006).The authors would like to acknowledge the following people for their assistance:HUO Mengzhen,WEI Chen,SUN Yongbin,WANG Siyuan,and YUAN Yang,all with the National Key Laboratory of Aircraft Integrated Flight Con-trol,School of Automation Science and Electrical Engineer-ing,Beihang University. （Nos.624B2013,62350048,U2541218,T2121003,62533006）
