Time-varying formation control and disturbance rejection for UAV-UGV heterogeneous swarm system

被引：0
|
作者：
Zhou S. [1 ,2 ]
Dong X. [1 ,2 ,3 ]
Li Q. [1 ,2 ]
Ren Z. [1 ,2 ,3 ]
机构：
[1] School of Automation Science and Electrical Engineering, Beihang University, Beijing
[2] Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing
[3] Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2020年 / 41卷
基金：
中国国家自然科学基金;
关键词：
Distributed control; Disturbance rejection; Heterogeneous system; Time-varying output formation; UAV-UGV;
D O I：
10.7527/S1000-6893.2019.23767
中图分类号：
学科分类号：
摘要：
This paper studies the time-varying formation control and disturbance rejection problems for heterogeneous UAV-UGV swarm system. The UAV-UGV swarm system is designed to achieve the desired time-varying output formation under unknown external disturbances. First, the kinetic and dynamic mathematical models of each UAV/UGV are established. In addition, the cooperative control models for heterogeneous swarm system are constructed by using the algebraic graph theory. Then, a distributed time-varying output formation controller is designed based on the internal model theory. The distributed formation center estimator and disturbance rejection compensator are designed and added to the formation controller. Third, an algorithm is presented to design the formation control parameters, where the feasibility conditions for achieving the time-varying output formation are given. The stability of the closed-loop UAV-UGV swarm system is proved. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed formation control approach. © 2020, Beihang University Aerospace Knowledge Press. All right reserved.
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