Han Qiang, Zhou Yongshuai, Liu Xin, Tuo Xianguo
Robot Technology Used for Special Environment Key Laboratory of Sichuan Province, Southwest University of Science and Techno1ogy 621010, China.
Artificial Intelligence Key Laboratory of Sichuan Province, Sichuan University of Science & Engineering, Zigong 643000, China.
Appl Bionics Biomech. 2022 Feb 21;2022:5875004. doi: 10.1155/2022/5875004. eCollection 2022.
The finite-time attitude cooperative control problem for a group of multiple unmanned aerial vehicle systems with external disturbances and uncertain parameters is discussed in this paper. The dynamics of the systems is described by quaternion avoiding the singularity. Based on the attitude error and angular velocity error, a novel nonsingular terminal sliding mode surface is proposed for the controller with event-triggered scheme. The lumped disturbances are estimated by neural networks with adaptive law. The communication frequency is decreased by the proposed distributed event-triggered based sliding mode controller. Lyapunov theory is utilized to analyze the stability of the systems, and the Zeno behavior is avoided by rigorous proof. Finally, simulation examples are presented to illustrate the efficiency of the proposed control algorithm.
本文研究了一类具有外部干扰和不确定参数的多无人机系统的有限时间姿态协同控制问题。采用四元数描述系统动力学，避免了奇异性。基于姿态误差和角速度误差，为具有事件触发机制的控制器设计了一种新型非奇异终端滑模面。利用神经网络和自适应律估计集中干扰。所提出的基于分布式事件触发的滑模控制器降低了通信频率。利用李雅普诺夫理论分析了系统的稳定性，并通过严格证明避免了芝诺行为。最后，给出了仿真算例，验证了所提控制算法的有效性。
