分布式自适应事件触发四旋翼无人机编队控制
收稿日期: 2023-11-28
修回日期: 2023-12-01
录用日期: 2023-12-06
网络出版日期: 2023-12-21
基金资助
国家重点研发计划(2023YFB4704400);国家自然科学基金(U2013201);江苏省科技计划专项资金(BZ2023057)
Distributed adaptive event⁃triggered formation control for QUAVs
Received date: 2023-11-28
Revised date: 2023-12-01
Accepted date: 2023-12-06
Online published: 2023-12-21
Supported by
National Key Research and Development Program of China(2023YFB4704400);National Natural Science Foundation of China(U2013201);Jiangsu Province Special Funds for Science and Technology(BZ2023057)
郭洪振 , 陈谋 , 戴永东 , 王茂飞 . 分布式自适应事件触发四旋翼无人机编队控制[J]. 航空学报, 2023 , 44(S2) : 729917 -729917 . DOI: 10.7527/S1000-6893.2023.29917
In this paper， a distributed adaptive event-triggered formation control method is proposed for Quadrotor Unmanned Aerial Vehicles （QUAVs） with unknown external disturbances and limited computational resources. Firstly， the parameter adaptive method is used to deal with the adverse effects of unknown external disturbances， and the parameter updating law is updated only at event-triggered instants to further reduce the computational cost. Then， the distributed formation controller is developed based on the parameter adaptive method and the event-triggered mechanism. Moreover， the uniformly ultimately bounded stability of the control system is accomplished by the Lyapunov theorem. Finally， flight experiments are implemented to verify the effectiveness and reliability of the proposed control method.
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