Robust adaptive control for unmanned aerial vehicle's formation with time-varying communication delays

被引：0
|
作者：
Zheng Z. [1 ]
Xiong Z.-H. [1 ]
Dang H.-T. [2 ]
Song S.-M. [3 ]
机构：
[1] Science and Technology on Information System Engineering Laboratory, Nanjing
[2] 96117 Troops of PLA, Laiwu
[3] Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2016年 / 24卷 / 01期
关键词：
Adaptive law; Communication delay; Formation stability; Robust control; Unmanned aerial vehicle;
D O I：
10.13695/j.cnki.12-1222/o3.2016.01.020
中图分类号：
学科分类号：
摘要：
The problem of robust adaptive control of unmanned aerial vehicle's (UAV's) formation is investigated with time-varying communication delays. According to the external disturbances and model uncertainties in the UAV formation system, a robust adaptive formation control scheme with time-varying communication delays is proposed by selecting auxiliary variables, including position tracking error and velocity tracking error. The adaptive laws are presented to estimate the unknown parameters, including the mass of the UAV and the bound of the external disturbances. The asymptotical stability of closed-loop system is analyzed based on Lyapunov stability theory, and the conditions for satisfying the asymptotical stability of the system are given. Simulation results demonstrate that the proposed control approach can achieve the purpose of formation tracking with high precision, and the steady-state errors of the formation tracking and formation keeping are less than 0.1 m and 0.05 m, respectively. © 2016, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：108 / 113
页数：5
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