Theory and experiment on distributed output formation tracking of unmanned aerial and ground vehicle swarm systems over jointly connected digraphs

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-08-29 DOI:10.1016/j.conengprac.2024.106070

Peixuan Shu , Changhai Wang , Yongzhao Hua , Xiwang Dong , Yumeng Liu , Zhang Ren

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引用次数: 0

Abstract

This paper studies the distributed output formation tracking control problem of the unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) swarm systems, where the UAV swarm cooperatively tracks the output trajectory of the UGV in a formation under directed jointly connected communication networks. A three-layer formation tracking protocol is proposed. Firstly, a novel distributed observer using neighbor interactions is designed for each UAV to estimate the states of the UGV with parameterized inputs over periodic jointly connected digraphs. Next, based on the observation result and output regulation theory, a virtual reference system that tracks the trajectory of the UGV in the desired formation is constructed to generate reference states for each UAV. Then based on the differential flatness of UAVs, a geometric controller is utilized for UAVs to track the reference states and form the formation. An algorithm to determine the gain matrices of the protocol is also presented while the convergence of the system is analyzed. Finally, an experiment platform with three quadrotor UAVs and one UGV is built. The effectiveness of the proposed protocol is validated both by the simulation and experiment.

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联合连接数字图上无人机和地面飞行器蜂群系统的分布式输出编队跟踪理论与实验

本文研究了无人机（UAV）和无人地面车辆（UGV）蜂群系统的分布式输出编队跟踪控制问题，其中无人机蜂群在定向联合连接通信网络下合作跟踪编队中 UGV 的输出轨迹。本文提出了一种三层编队跟踪协议。首先，为每架无人机设计了一种利用邻居交互的新型分布式观测器，以在周期性联合连接的数字图上用参数化输入估计 UGV 的状态。然后，根据观测结果和输出调节理论，构建一个虚拟参考系统，跟踪 UGV 在所需编队中的轨迹，为每个 UAV 生成参考状态。然后，根据无人机的差分平面度，利用几何控制器为无人机跟踪参考状态并形成编队。此外，还介绍了确定协议增益矩阵的算法，并分析了系统的收敛性。最后，建立了一个包含三架四旋翼无人机和一架 UGV 的实验平台。模拟和实验验证了所提协议的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.