无人机-无人车异构时变编队控制与扰动抑制

doi:10.7527/S1000-6893.2019.23767

Abstract

Abstract: 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.

Key words: UAV-UGV, heterogeneous system, distributed control, time-varying output formation, disturbance rejection

CLC Number:

V279
TJ765

ZHOU Siquan, DONG Xiwang, LI Qingdong, REN Zhang. Time-varying formation control and disturbance rejection for UAV-UGV heterogeneous swarm system[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S1): 723767-723767.

References 29

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

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