Heterogeneous Cooperative Fixed-time Prescribed Performance Evolution Control for Unmanned Aerial/Surface Vehicles
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摘要: 针对执行器故障的无人机/无人艇(Unmanned aerial/surface vehicle, UAV/USV)异构协同系统编队包容控制问题, 提出一种固定时间预设性能演化控制方法. 为保证基于视觉测量的相对位置信号的连续性和准确性, 设计控制误差收敛的演化路径, 通过固定时间预设性能函数使误差限制在演化路径的邻域内, 并利用转换函数将受约束跟踪问题转换为无约束镇定问题. 采用动态面技术对转换后的误差动力学进行控制, 并利用干扰观测器和自适应技术对干扰和未知执行器故障进行估计. 通过 Lyapunov 函数证明误差动力学闭环系统所有信号都是最终一致有界的, 并进一步证明编队误差是固定时间稳定的, 数值仿真验证了所提方法的有效性.Abstract: A fixed-time prescribed performance evolution control method is proposed for the formation containment control problem of unmanned aerial/surface vehicle (UAV/USV) heterogeneous cooperative system with actuator faults. The evolution path for the control error convergence is designed to guarantee the continuity and accuracy of relative position signals based on visual measurement, and the error is limited to the neighborhood of the evolution path by the fixed-time prescribed performance function. The constrained tracking problem is transformed into an unconstrained stabilization problem by using the transformation function. The dynamic surface technology is used to control the transformed error dynamics, and the disturbance observer and adaptive technique are utilized to estimate the disturbance and the unknown actuator faults. It is proved that all signals of the closed-loop system of error dynamics are uniformly ultimately bounded by Lyapunov function, and it is further proved that the formation error is fixed-time stable. Numerical simulations verify the effectiveness of the proposed method.
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图 5 无人机/无人艇异构系统轨迹 (情况1)
Fig. 5 Trajectories of the UAV/USV heterogeneous system (case 1)
图 9 无人机/无人艇异构系统轨迹 (情况1对比实验)
Fig. 9 Trajectories of the UAV/USV heterogeneous system (comparative experiment in case 1)
图 12 编队误差$e_{\xi i z}$ (情况1对比实验)
Fig. 12 Formation error $e_{\xi i z}$ (comparative experiment in case 1)
图 10 编队误差$e_{\xi i x}$ (情况1对比实验)
Fig. 10 Formation error $e_{\xi i x}$ (comparative experiment in case 1)
图 11 编队误差$e_{\xi i y}$ (情况1对比实验)
Fig. 11 Formation error $e_{\xi i y}$ (comparative experiment in case 1)
图 15 无人机/无人艇异构系统轨迹 (情况2)
Fig. 15 Trajectories of the UAV/USV heterogeneous system (case 2)
图 19 无人机/无人艇异构系统轨迹 (情况2对比实验)
Fig. 19 Trajectories of the UAV/USV heterogeneous system (comparative experiment in case 2)
图 22 编队误差$e_{\xi i z}$ (情况2对比实验)
Fig. 22 Formation error $e_{\xi i z}$ (comparative experiment in case 2)
图 20 编队误差$e_{\xi i x}$ (情况2对比实验)
Fig. 20 Formation error $e_{\xi i x}$ (comparative experiment in case 2)
图 21 编队误差$e_{\xi i y}$ (情况2对比实验)
Fig. 21 Formation error $e_{\xi i y}$ (comparative experiment in case 2)
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