摘要
针对具有外部扰动和参数不确定性的多四旋翼无人机,提出了基于指令滤波反步方法的分布式固定时间自适应编队控制算法.通过引入固定时间指令滤波及构建非光滑误差补偿机制,有效地避免了“复杂性爆炸”问题并在固定时间内移除了滤波误差的影响.此外,通过设计分段函数,巧妙地解决了分布式控制器中存在的奇异性问题.利用固定时间稳定性理论,严格证明了闭环系统是实际固定时间稳定的,且闭环系统中所有信号有界,同时编队跟踪误差在固定时间内收敛到原点附近充分小的邻域内.最后,仿真算例验证了所提出的分布式固定时间控制策略的有效性.
This paper proposes a distributed fixed-time adaptive formation control algorithm for multiple quadrotor unmanned aerial vehicles(QUAVs)with external disturbances and parameter uncertainties via the command filtered backstepping method.By introducing the fixed-time command filter and constructing the nonsmooth error compensation mechanism,the“complexity explosion”problem is effectively avoided as well as the influence of filtered error is eliminated in a fixed time.Besides,the issue of singularity existing in the distributed controller is skillfully addressed by designing a piecewise function.Based on the fixed-time stability theory,it strictly proves that the closed-loop system is practical fixed-time stable and all the signals of the closed-loop system are bounded,meanwhile,the formation tracking errors converge to a sufficiently small neighbourhood of the origin in a fixed time.Finally,a simulation example verifies the effectiveness of the proposed distributed fixed-time control strategy.
作者
徐辉
崔国增
李泽
XU Hui;CUI Guozeng;LI Ze(School of Electronic and Information Engineering,Suzhou University of Science and Technology,CUI Guozeng Suzhou 215009)
出处
《系统科学与数学》
CSCD
北大核心
2022年第9期2245-2257,共13页
Journal of Systems Science and Mathematical Sciences
基金
国家自然科学基金(61703059,61873144)
江苏省自然科学基金优秀青年基金(BK20211605)
江苏省研究生科研与实践创新计划项目(SJCX22_1586)资助课题。
