典型文献
Robust leaderless time-varying formation control for unmanned aerial vehicle swarm system with Lipschitz nonlinear dynamics and directed switching topologies
文献摘要：
This paper tackles the robust leaderless Time-Varying Formation(TVF)control problem for the Unmanned Aerial Vehicle(UAV)swarm system with Lipschitz nonlinear dynamics,external disturbances and directed switching topologies.In comparison with the previous achievements on formation control problems,the UAV swarm system with Lipschitz nonlinear dynamics can accom-plish the pre-designed TVF while tracking a pre-given trajectory which is produced by a virtual lea-der UAV in the presence of external disturbances.Firstly,by applying the consensus theory,a TVF controller is developed with the local neighborhood status information,the errors of real time status of all UAVs,the expected formation configuration and the pre-given trajectory under directed switching topologies.Secondly,through a certain matrix variable substitution,the UAV swarm sys-tem formation control issue is transformed into a lower dimensional asymptotically stable control issue.Thirdly,by introducing the minimum dwell time,the design steps of formation control algo-rithm are further acquired.In the meantime,the stability of the UAV swarm system is analyzed through the construction of a piecewise continuous Lyapunov functional and via the Linear Matrix Inequalities(LMIs)method.Finally,the comparison results of a numerical simulation are elabo-rated to verify the validity of the proposed approach.
文献关键词：
中图分类号：
作者姓名：
Yuhang KANG;Yu KUANG;Jun CHENG;Bangchu ZHANG;Yahui QI;Shaolei ZHOU;Kai MAO
作者机构：
Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China;School of Basic Science,Naval Aviation University,Yantai 264001,China;School of Aeronautics and Astronautics,Sun Yat-Sen University,Guangzhou 510275,China
文献出处：
引用格式：
[1]Yuhang KANG;Yu KUANG;Jun CHENG;Bangchu ZHANG;Yahui QI;Shaolei ZHOU;Kai MAO-.Robust leaderless time-varying formation control for unmanned aerial vehicle swarm system with Lipschitz nonlinear dynamics and directed switching topologies)[J].中国航空学报（英文版）,2022(01):124-136
A类：
leaderless,tackles,plish
B类：
Robust,varying,unmanned,aerial,vehicle,swarm,system,Lipschitz,nonlinear,dynamics,directed,switching,topologies,This,paper,robust,Time,Varying,Formation,TVF,Unmanned,Aerial,Vehicle,external,disturbances,comparison,previous,achievements,problems,can,accom,designed,while,tracking,given,trajectory,which,produced,by,virtual,presence,Firstly,applying,consensus,theory,controller,developed,local,neighborhood,status,information,errors,real,UAVs,expected,configuration,under,Secondly,through,certain,matrix,variable,substitution,issue,transformed,into,lower,dimensional,asymptotically,stable,Thirdly,introducing,minimum,dwell,steps,algo,rithm,are,further,acquired,meantime,stability,analyzed,construction,piecewise,continuous,Lyapunov,functional,via,Linear,Matrix,Inequalities,LMIs,method,Finally,results,numerical,simulation,elabo,rated,verify,validity,proposed,approach
AB值：
0.545201
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