This work focuses on the internal collision avoidance control for unmanned aerial vehicle (UAV) formation based on distributed dynamic event-triggered mechanisms (DETMs) and composite disturbance observers. To decrease the transmission rate of the redundant data and alleviate the communication network burden, a method of designing distributed event-triggered mechanisms with dynamic triggering threshold functions is proposed, which are related to tracking errors, triggering errors and consistency errors. By taking the lumped disturbances into account, which include the primary disturbance generated by exogenous system and the secondary disturbance effects from adjacent UAVs, a composite disturbance observer is constructed for each UAV to counteract the negative effects of the unknown disturbances. Moreover, by referring to the prescribed performance control method, a consensus controller, which can avoid the internal collision among the multiple UAVs, is presented for each UAV to achieve the control target. The stability of the closed-loop system can be guaranteed by using the Lyapunov stability theory, along with the gains of controller and observers being represented in explicit forms. Finally, a simulation example regarding six UAVs testifies the availability of the proposed control strategy.

这项工作的重点是基于分布式动态事件触发机制（DETM）和复合扰动观测器的无人机（UAV）编队内部防撞控制。为降低冗余数据的传输速率，减轻通信网络负担，提出了一种设计具有动态触发阈值函数的分布式事件触发机制的方法，该机制涉及跟踪错误、触发错误和一致性错误。综合考虑集总扰动，包括外生系统产生的主扰动和相邻无人机的二次扰动效应，为每架无人机构建复合扰动观测器，以抵消未知扰动的负面影响。而且，参照规定的性能控制方法，为每台无人机提出了一种可以避免多架无人机内部冲突的共识控制器，以实现控制目标。使用李雅普诺夫稳定性理论可以保证闭环系统的稳定性，同时控制器和观察者的增益以明确的形式表示。最后，一个关于六架无人机的仿真例子证明了所提出的控制策略的可用性。