时延条件下多无人机系统鲁棒编队跟踪控制

Robust formation tracking control of multi-UAV system under time-delay conditions

针对同时存在时延及外部扰动条件下的多无人机系统编队跟踪控制问题,提出了一种基于leader-follower(领导-跟随)控制构型的鲁棒控制方法.首先,基于一致性控制理论,设计了存在时延与外部扰动的分布式编队跟踪控制协议.然后,将控制协议代入系统模型,通过变量替换将多无人机系统的编队跟踪控制问题转化为时延系统的渐进稳定性问题.进一步,利用构造的线性矩阵不等式组计算出保证时延系统稳定的最大容许时延上界,同时通过李雅普诺夫稳定性理论证明了系统的渐近稳定性与时延上界计算方法的正确性.最后运用5架无人机构成的多无人机系统进行数值仿真实验,结果表明所设计的控制协议能够在同时存在时延及外部扰动的条件下快速平稳地实现编队跟踪控制.

A robust control method based on the leader-follower control configuration is proposed for the formation tracking control issue of a multi-unmanned aerial vehicle(multi-UAV) system under the simultaneous presence of time-delay and external disturbances.First,based on consensus control theory,a distributed formation tracking control protocol is designed to account for the presence of timedelay and external disturbances.Then,by substituting the control protocol into the system model and employing variable substitutions,the formation tracking control problem of the multi-UAV system is transformed into the issue of asymptotic stability for a time-delay system.Furthermore,by constructing a set of linear matrix inequalities,the maximum allowable upper bound for the time delay that guarantees the stability of the time-delay system is calculated.Additionally,using Lyapunov stability theory,the correctness of the method for calculating asymptotic stability and the time-delay upper bound is demonstrated.Finally,numerical simulation experiments are conducted with a multi-UAV system consisting of five drones.The results show that the designed control protocol can achieve rapid and smooth formation tracking control under the simultaneous presence of time-delay and external disturbances.