无人艇与四旋翼无人机固定时间异构编队控制

Fixed-time heterogeneous formation control of unmanned boats and quadrotor unmanned aerial vehicle

针对多四旋翼无人机与欠驱动无人艇组成的异构系统存在干扰扰动时的编队控制问题,设计了固定时间干扰观测器和固定时间编队控制器。首先,对欠驱动无人艇动力学模型进行处理,得到欠驱动无人艇与四旋翼无人机在地面坐标系下统一数学表达形式。然后,针对异构系统的动态特性导致的通信网络中出现的不确定性的干扰,对每个跟随者设计基于固定时间的干扰观测器。基于反步法和固定时间稳定性理论,为每个跟随者设计基于观测器的分布式固定时间编队控制器,以保证每个跟随者的编队状态误差在固定时间内得到收敛。最后,通过仿真检验了所提出控制算法的可行性。

Aiming at the formation control problem of the heterogeneous system composed of multiple quadrotor unmanned aerial vehicle and underactuated surface vessels in the presence of disturbance,the fixed time disturbance observer and the fixed time formation controller are designed.Firstly,the dynamic model of underactuated surface vessels is processed,and the unified mathematical expression of underactuated surface vessels and quadrotor unmanned aerial vehicle in the ground coordinate system is obtained.Then,aiming at the uncertain disturbance in the communication network caused by the dynamic characteristics of heterogeneous systems,the disturbance observer based on fixed time is designed for each follower.Using backstepping and fixed time stability theory,an observer-based distributed fixed time formation controller is designed for each follower to ensure that the formation state error of each follower converges in a fixed time.Finally,the feasibility of the proposed control algorithm is verified by simulation.