{"title":"基于半无限编程的分布式鲁棒无人机编队控制","authors":"Peiyu Zhang;Jianshan Zhou;Daxin Tian;Xuting Duan;Dezong Zhao;Kan Guo","doi":"10.26599/TST.2023.9010125","DOIUrl":null,"url":null,"abstract":"The formation control of unmanned aerial vehicle (UAV) swarms is of significant importance in various fields such as transportation, emergency management, and environmental monitoring. However, the complex dynamics, nonlinearity, uncertainty, and interaction among agents make it a challenging problem. In this paper, we propose a distributed robust control strategy that uses only local information of UAVs to improve the stability and robustness of the formation system in uncertain environments. We establish a nominal control strategy based on position relations and a semi-definite programming model to obtain control gains. Additionally, we propose a robust control strategy under the rotation set Ω to address the noise and disturbance in the system, ensuring that even when the rotation angles of the UAVs change, they still form a stable formation. Finally, we extend the proposed strategy to a quadrotor UAV system with high-order kinematic models and conduct simulation experiments to validate its effectiveness in resisting uncertain disturbances and achieving formation control.","PeriodicalId":48690,"journal":{"name":"Tsinghua Science and Technology","volume":null,"pages":null},"PeriodicalIF":6.6000,"publicationDate":"2024-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10517976","citationCount":"0","resultStr":"{\"title\":\"Distributed Robust UAVs Formation Control Based on Semidefinite Programming\",\"authors\":\"Peiyu Zhang;Jianshan Zhou;Daxin Tian;Xuting Duan;Dezong Zhao;Kan Guo\",\"doi\":\"10.26599/TST.2023.9010125\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The formation control of unmanned aerial vehicle (UAV) swarms is of significant importance in various fields such as transportation, emergency management, and environmental monitoring. However, the complex dynamics, nonlinearity, uncertainty, and interaction among agents make it a challenging problem. In this paper, we propose a distributed robust control strategy that uses only local information of UAVs to improve the stability and robustness of the formation system in uncertain environments. We establish a nominal control strategy based on position relations and a semi-definite programming model to obtain control gains. Additionally, we propose a robust control strategy under the rotation set Ω to address the noise and disturbance in the system, ensuring that even when the rotation angles of the UAVs change, they still form a stable formation. Finally, we extend the proposed strategy to a quadrotor UAV system with high-order kinematic models and conduct simulation experiments to validate its effectiveness in resisting uncertain disturbances and achieving formation control.\",\"PeriodicalId\":48690,\"journal\":{\"name\":\"Tsinghua Science and Technology\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":6.6000,\"publicationDate\":\"2024-03-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10517976\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Tsinghua Science and Technology\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10517976/\",\"RegionNum\":1,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"Multidisciplinary\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Tsinghua Science and Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10517976/","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"Multidisciplinary","Score":null,"Total":0}
Distributed Robust UAVs Formation Control Based on Semidefinite Programming
The formation control of unmanned aerial vehicle (UAV) swarms is of significant importance in various fields such as transportation, emergency management, and environmental monitoring. However, the complex dynamics, nonlinearity, uncertainty, and interaction among agents make it a challenging problem. In this paper, we propose a distributed robust control strategy that uses only local information of UAVs to improve the stability and robustness of the formation system in uncertain environments. We establish a nominal control strategy based on position relations and a semi-definite programming model to obtain control gains. Additionally, we propose a robust control strategy under the rotation set Ω to address the noise and disturbance in the system, ensuring that even when the rotation angles of the UAVs change, they still form a stable formation. Finally, we extend the proposed strategy to a quadrotor UAV system with high-order kinematic models and conduct simulation experiments to validate its effectiveness in resisting uncertain disturbances and achieving formation control.
期刊介绍:
Tsinghua Science and Technology (Tsinghua Sci Technol) started publication in 1996. It is an international academic journal sponsored by Tsinghua University and is published bimonthly. This journal aims at presenting the up-to-date scientific achievements in computer science, electronic engineering, and other IT fields. Contributions all over the world are welcome.