大规模无人机网络控制系统中鲁棒H∞团队形成跟踪设计方法

English | 2024 | ISBN: 9781003545965 | 278 pages | True PDF,EPUB | 24.42 MB

This book introduces the centralized robust H∞ team formation tracking control strategy of multi-unmanned aerial vehicle (multi-UAV) network system under intrinsic random fluctuation, time-varying delay and packet dropout in wireless communication, and external disturbance. A simple robust decentralized H∞ proportional-integral-derivative (PID) reference tracking network control strategy is introduced for practical applications of team formation of large-scale UAV under control saturation constraint, external disturbance, and vortex coupling. It provides practical design procedures based on linear matrix inequalities (LMIs) solvable via LMI TOOLBOX in MATLAB®.

Features

Focuses on the stabilization of a QUAV under finite-time switching model control (SMC)

Discusses robustness control design for formation tracking in UAV networks

Introduces different robust centralized and decentralized H∞ attack-tolerant observer-based reference team formation tracking control of large-scale UAVs

Reviews practical case studies in each chapter to introduce the design procedures

Includes design examples of team formation of 25 quadrotor UAVs and a team formation example of five hybrid quadrotor/biped robot sub-teams

This book is aimed at researchers and graduate students in control and electrical engineering.

这本书介绍了一种多无人 aerial 车辆（UAV）网络系统在固有的随机波动、时变延迟和无线通信丢包以及外部干扰条件下，采用集中的鲁棒 H∞ 机制团队形成跟踪控制策略。它为大型 UAV 网络下受饱和控制、外部干扰和涡流耦合约束的团队形成引入了一个简单的鲁棒去中心化 H∞ 比例-积分-微分（PID）参考跟踪网络控制策略。基于 MATLAB® 的 LMI TOOLBOX 可通过线性矩阵不等式（LMIs）求解，提供实用的设计步骤。 特点 重点讨论了在有限时间切换模型控制下的 QUAV 稳定性问题 探讨了 UAV 网络中团队追踪的鲁棒控制设计 介绍了大规模 UAV 的不同集中和去中心化的鲁棒 H∞ 攻击耐受观测器基于参考团队形成跟踪控制 每章包括实用案例研究，以介绍设计步骤 包含 25 枢纽无人机团队和五个混合四旋翼人形机器人子队的团队形式设计示例 本书旨在为控制与电气工程领域的研究人员和研究生服务。

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