分布式自适应事件触发四旋翼无人机编队控制

doi:10.7527/S1000-6893.2023.29917

Abstract

Abstract:

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.

Key words: distributed formation control, event-trigger, Quadrotor Unmanned Aerial Vehicle (QUAV), parameter adaptive method, Lyapunov method

CLC Number:

Hongzhen GUO, Mou CHEN, Yongdong DAI, Maofei WANG. Distributed adaptive event⁃triggered formation control for QUAVs[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729917-729917.

Figures/Tables 10

Fig. 1

Fig. 2

Fig. 3

Table 1

Initial position and velocity of QUAVs

类型	位置/m	速度/（m·s^-1）
领导者	$[- 0.923,0.518,0.091] T$	$[0,0, 0] T$
跟随者1	$[0.955,0.271,0.107] T$	$[0,0, 0] T$
跟随者2	$[0.947, - 0.899,0.129] T$	$[0,0, 0] T$
跟随者3	$[- 1.148, - 1.099,0.098] T$	$[0,0, 0] T$

Table 1

Table 2

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

References 28

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类型	P	I	D
横滚角	5	0	0
俯仰角	5	0	0
偏航角	2.8	0	0
横滚角速度	0.08	0.03	0.001
俯仰角速度	0.08	0.03	0.001
偏航角速度	0.3	0.3	0

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Distributed adaptive event⁃triggered formation control for QUAVs

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