Time⁃varying formation control of multi⁃quadrotor unmanned aerial vehicles based on state observer

被引：0
|
作者：
Yu Y.-J. [1 ]
Guo J. [1 ]
Wang R.-H. [2 ]
Qin W. [3 ,4 ]
Song M.-W. [4 ]
Xiang Z.-R. [1 ]
机构：
[1] School of Automation, Nanjing University of Science and Technology, Nanjing
[2] Academy of National Defense Engineering, Army Engineering University, Nanjing
[3] Defense Innovation Institute, Academy of Military Sciences, Beijing
[4] Tianjin Artificial Intelligence Innovation Center, Tianjin
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2023年 / 53卷 / 03期
关键词：
adaptive sliding mode control; directed switching communications network; neural network state observer; time-varying formation control; unmanned aerial vehicles system;
D O I：
10.13229/j.cnki.jdxbgxb20221034
中图分类号：
学科分类号：
摘要：
A distributed adaptive sliding mode time-varying formation control scheme based on neural network state observer was proposed to solve the problem of unmeasurable information of multi-quadrotor unmanned aerial vehicles （UAVs） system in directed switching communication network. Firstly，by designing a distributed time-varying formation control protocol，UAVS can communicate with each other only by the status information of their neighbors，which is free from the dependence on global information. Due to the underdrive characteristic，a position-assisted controller was designed to solve the target information of two attitude angles and control thrust. At the same time，a neural network state observer was designed to observe the unmeasurable information of the system，and the observed values were feedback to the adaptive sliding mode controller in real time，which improves the robustness of the UAV system. The quadrotor UAV formation system is analyzed by Lyapunov's theorem，and it proved that the multi-UAV formation error is bounded and converges to near zero. The simulation results show that the proposed control method can realize the time-varying formation control of the multi-UAV system and verify the validity of the theoretical results. © 2023 Editorial Board of Jilin University. All rights reserved.
引用
收藏
页码：871 / 882
页数：11
相关论文
共 21 条
  • [1] Huang Wen-hua, Opportunities and challenges in future intelligent and unmanned countermeasures, Modern Applied Physics, 10, 4, pp. 18-22, (2019)
  • [2] Yu Huang-chao, Niu Yi-feng, Wang Xiang-ke, Development stages and intelligent trends of UAV systems, National Defense Technology, 42, 3, pp. 18-24, (2021)
  • [3] Dong X, Hua Y, Zhou Y, Et al., Theory and experiment on formation-containment control of multiple multirotor unmanned aerial vehicle systems, IEEE Transactions on Automation Science and Engineering, 16, 1, pp. 229-240, (2019)
  • [4] Zhang Bang-chu, Liao Jian, Kuang Yu, Et al., Research status and development trend of the united states UAV swarm battlefield, Aero Weaponry, 27, 6, pp. 7-12, (2020)
  • [5] Gu Xu-ping, Tang Da-quan, Tang Guan-zheng, Summary of research on key technologies of UAV Swarms, Automation and Instrumentation, 4, pp. 21-26, (2021)
  • [6] Zhu Xu, Zhang Xun-xun, Yan Mao-de, Et al., UAV formation control strategy based on consensus, Computer Simulation, 33, 8, pp. 30-34, (2016)
  • [7] Wang Pin, Yao Pei-yang, Method of distributed UAV formation control, Computer Engineering and Applications, 52, 16, pp. 1-6, (2016)
  • [8] Wang Xiang-ke, Chen Hao, Zhao Shu-long, Formation control of large-scale fixed-wing unmanned aerial vehicle swarms, Control and Decision, 36, 9, pp. 2063-2073, (2021)
  • [9] Xian Bin, Li Hong-tu, Time-varying formation nonlinear control of distributed multiple UAVs, Control and Decision, 36, 10, pp. 2490-2496, (2021)
  • [10] Dong Chao-yang, Zhang Wen-qiang, Wang Qing, Time-varying anti-disturbance formation control for multi-UAV systems with complex uncertainties, Journal of Astronautics, 41, 3, pp. 319-328, (2020)
123