英文摘要 | In recent decades, unmanned aerial vehicles (UAVs) are widely used in military and civil fields, and present vast and applicable prospects. With the increasingly complex and diverse tasks the UAVs face, comparing to the single-UAV flight, UAV cooperative formation flight has become a research hotspot in the aerospace field due to its overwhelming flexibility and sensing ability. As one of the significant technologies in UAV formation system design, UAV formation control technology has received constant attention from the researchers in the control field. In recent years, the emerging multi-agent consensus theory, which can lead the states of the agents to a common value by information interaction and coordination, provides a new idea for UAV formation control design and possesses distinct advantages in solving formation control problems. However, cooperative formation control based on consensus theory is still under exploration and development, and many key control issues need to be addressed. Aiming to realize the time-varying formation tracking flight of multi-UAV systems, this dissertation focuses on solving the challenging control problems, such as insufficiently fast convergence speed, time-varying delay, switching communication topologies and uncertainties. The main work and novelties of this dissertation are summarized as follows:
(1) To achieve fast time-varying formation tracking flight for multi-UAV system, a novel finite-time formation control law based on homogeneity theory is proposed with consideration of the switching topologies problem in real flight. Such a formation control law can achieve the target of time-varying formation tracking flight in finite time under switching topologies. The finite-time stability of the whole closed-loop formation control system under the control law is obtained based on Lyapunov theory. Numerical simulations verify the effectiveness of the proposed control strategies.
(2) For the problems of time-varying delays and switching topologies, a novel integrated consensus based formation control law is designed. Such a formation control law can simultaneously solve the problems of time-varying delays and switching topologies, at the meantime, realize the desired time-varying formation tracking flight. The uniform ultimate boundedness of the formation tracking errors is theoretically analyzed through Lyapunov approach. In the meanwhile, simulation results demonstrate the effectiveness of the control law.
(3) Considering the problems of time-varying delays and uncertainties in practice simultaneously, a novel radial basis function neural network (RBFNN)-based fully distributed adaptive control scheme is proposed. Such a control scheme can achieve time-varying formation tracking flight, at the same time simultaneously compensate for uncertainties and tackle the problem of varying time delays. The uniform ultimate boundedness of the formation tracking errors is obtained through Lyapunov approach. In the meanwhile, the comparative numerical simulation results verify the effectiveness and superiority of our proposed control scheme.
(4) Aiming at solving the problems of uncertainties and too many parameters needing to be updated online in the conventional RBFNNs, a novel formation control law based on MLP (Minimal Learning Parameter) is designed to achieve time-varying formation tracking flight for multi-UAV systems and lighten the burdensome computation of the adaptive control law at the same time. The uniform ultimate boundedness of the formation tracking errors is obtained through Lyapunov approach. In the meanwhile, the comparative numerical simulation results verify the effectiveness and superiority of the control law.
(5) Around the problems of uncertainties in practical flight and unavailable precise velocity states of the leader, a novel adaptive neural network formation tracking control scheme is proposed based on MLP technique and fixed-time cascaded leader state observer (CLSO) without velocity measurements. Firstly, taking the convergence rates of the observers into consideration, a novel fixed-time CLSO without velocity measurements is designed for each UAV to obtain the precise estimates of the states of the leader. Secondly, focusing on the problem of model uncertainties, adaptive RBFNNs are adopted to compensate for the model uncertainties online. Finally, a novel formation control scheme is proposed by combining the designed fixed-time CLSO and MLP method, to achieve formation tracking flight and lighten the burdensome computation of the whole system. The uniform ultimate boundedness property of the formation tracking error is obtained through Lyapunov approach. In the meanwhile, the comparative numerical simulation results verify the effectiveness and superiority of the control scheme.
On the whole, starting from the control objective of time-varying formation tracking flight, this dissertation deeply studies several key control problems, including insufficiently fast convergence speed, time-varying delay, switching communication topologies and uncertainties, and makes a positive theoretical discussion for the development of cooperative formation control of multi-UAV systems. |
修改评论