Formation Control of Multiple UAVs Incorporating Extended State Observer-Based Model Predictive Approach

被引：0
作者：
Boyang Zhang
Xiuxia Sun
Shuguang Liu
Xiongfeng Deng
机构：
[1] Air Force Engineering University,Equipment Management and Unmanned Aerial Vehicle Engineering College
来源：
International Journal of Aeronautical and Space Sciences | 2019年 / 20卷
关键词：
State space predictive control (SSPC); Extended state observer (ESO); Trajectory tracking; Disturbance rejection; Multiple unmanned aerial vehicles (UAVs);
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper studies the extended state observer-based state space predictive control approach to deal with the multiple unmanned aerial vehicle formation flight with unknown disturbances. The distributed control problem for a class of multiple unmanned aerial vehicle systems with reference trajectory tracking and disturbance rejection is formulated. Firstly, a local distributed controller is designed by using the state space predictive control approach based on an error model to achieve stable tracking. Then, a feedforward compensation controller is introduced by using the extended state observer to estimate and compensate disturbances and improve the ability of anti-interference. Besides, the bounded stability of the designed extended state observer is analyzed as well. Finally, the simulation examples are provided to illustrate the validity of the proposed control structure.
引用
收藏
页码：953 / 963
页数：10
相关论文
共 47 条
  • [1] Mohamed A(2015)A feasibility study of bioinspired wing-surface pressure sensing for attitude control of micro aerial vehicles J Aircraft 52 1-12
  • [2] Watkins S(2018)Collision avoidance in fixed-wing UAV formation flight based on a consensus control algorithm IEEE Access 6 43672-43682
  • [3] Fisher A(2015)Solving multi-UAV dynamic encirclement via model predictive control IEEE Trans Control Syst Technol 23 2251-2265
  • [4] Zhang JL(2017)A fault-tolerant cooperative positioning approach for multiple UAVs IEEE Access 5 15630-15640
  • [5] Yan JG(2018)Formation control of multiple unmanned aerial vehicles by event-triggered distributed model predictive control IEEE Access 6 55614-55627
  • [6] Zhang P(2017)Gaussian mixture model and receding horizon control for multiple UAV search in complex environment Nonlinear Dyn 88 903-919
  • [7] Hafez AT(2017)State and parameter estimation: a nonlinear luenberger observer approach IEEE Trans Autom Control 62 903-919
  • [8] Marasco AJ(2017)A cubature kalman filter based power system dynamic state estimator IEEE Trans Instrum Meas 66 2036-2045
  • [9] Givigi SN(2018)FPGA implementation of sensorless sliding mode observer with a novel rotation direction detection for PMSM drives IEEE Access 6 55528-55536
  • [10] Qu YH(2018)Robust speed regulation for PMSM servo system with multiple sources of disturbances via an augmented disturbance observer IEEE/ASME Trans Mechatron 23 769-780
12345