当前位置: X-MOL 学术J. Franklin Inst. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Disturbance-observer-based formation-containment control for UAVs via distributed adaptive event -triggered mechanisms
Journal of the Franklin Institute ( IF 4.1 ) Pub Date : 2021-05-08 , DOI: 10.1016/j.jfranklin.2021.04.050
Lili Wei , Mou Chen , Tao Li

In this paper, the adaptive event-triggered formation-containment control for unmanned aerial vehicles (UAVs) is investigated in the presence of multiple leaders and external disturbances. By utilizing the leader-following model, the reference leader provides the desired flight trajectory for multiple formation leaders while the followers are driven into the convex hull spanned by the formation leaders. Initially, some effective disturbance observers are designed to obtain the estimations for eliminating the negative effects of external disturbances. Secondly, in order to alleviate the network burden, a dynamic triggering law is designed for the adaptive event-triggered mechanism (AETM) and the triggering frequency is heavily related to the triggering errors. Then, by exploiting Kronecker product technique and Lyapunov stability theory, two sufficient conditions on the stability of closed-loop system are established, which can help achieve the desired formation control target. Furthermore, the controller gains and observer ones can be determined by calculating the derived linear matrix inequalities (LMIs). Finally, a simulation example is given to illustrate the feasibility of the designed control protocol.



中文翻译:

通过分布式自适应事件触发机制对无人机进行基于干扰观察者的编队遏制控制

在本文中,在存在多个领导者和外部干扰的情况下,研究了无人机(UAV)的自适应事件触发编队遏制控制。通过利用领导者跟随模型,参考领导者为多个编队领导者提供所需的飞行轨迹,而追随者则被驱动到由编队领导者跨越的凸包中。最初,设计了一些有效的干扰观测器来获得消除外部干扰负面影响的估计。其次,为了减轻网络负担,自适应事件触发机制(AETM)设计了动态触发律,触发频率与触发误差密切相关。然后,利用 Kronecker 乘积技术和 Lyapunov 稳定性理论,建立了闭环系统稳定性的两个充分条件,有助于实现理想的编队控制目标。此外,控制器增益和观测器增益可以通过计算导出的线性矩阵不等式 (LMI) 来确定。最后,给出一个仿真实例来说明所设计的控制协议的可行性。

更新日期:2021-06-13
down
wechat
bug