Key Theories and Technologies of Cloud Control Platform for Intelligent Connected Unmanned Systems

To address the cross-domain collaborative challenges of unmanned systems in smart cities, which arise from inconsistent communication architectures, inefficient task scheduling, and the inability of digital twin technologies to support real time global decision making, this paper integrates cloud control system theory with digital twin technologies. Based on a cloud-network-edge-terminal collaborative cloud control architecture, we establish a cloud control platform for intelligent connected unmanned systems together with its key theoretical and technical framework. This framework encompasses key theories, such as comprehensive modeling of cloud control systems, model and data-driven joint control, and cross-domain collaborative cloud control for multi-motion bodies. In addition, several key technologies are studied, including a digital twin system, a containerized cloud workflow scheduling system, a dynamic cloud control system, and a remote driving system. A heterogeneous unmanned system composed of unmanned aerial vehicles, unmanned vehicles, unmanned surface vehicles, and robots is deployed in a campus scenario to form aerial-based, ground-based, and sea (water)-based dynamic clouds and to achieve cross-domain collaboration. The results verify the feasibility and effectiveness of the proposed theoretical framework and provide theoretical foundations and technical pathway for future smart city development and cross-domain unmanned system collaborative applications.