Adaptive Anti-Disturbance Performance Guaranteed Formation Tracking Control for Quadrotor UAVs via Aperiodic Signal Updating
针对四旋翼无人机在受限区域内的编队控制问题，提出一种基于非周期信号更新的自适应抗干扰控制策略，通过模糊逻辑系统逼近未知动态、设计扰动观测器抑制干扰，并利用事件触发机制减少传感器数据传输，保证编队误差收敛到预设边界。
In order to realize the operability and safety of unmanned aerial vehicles (UAVs) in confined areas, this article investigates an adaptive anti-disturbance performance guaranteed fuzzy formation control problem for quadrotor UAVs by using aperiodic signal updating. The unknown dynamics are approximated by using fuzzy logic systems. A disturbance observer is constructed for each UAV, including position subsystem (outer-loop) and attitude subsystem (inner-loop), to reduce the negative effects of UAVs with disturbances in complex flight environments. To avoid the potential internal collision among the multiple UAVs, a prescribed performance function that widens the initial value range of the consistency error is designed to keep the formation error within the specified range. Intermittent output signals generated by event-triggered control strategy of attitude subsystem are used to reduce sensors data transmission on each UAV, thereby saving energy and communication resources. Via the Lyapunov stability theory, the formation error can converge to a prescribed boundary range. Finally, the validity of the proposed control strategy is illustrated by simulation results.