用于多架四旋翼无人飞行器合作跟踪的分布式预定义时间控制

IF 15.3 1区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Ieee-Caa Journal of Automatica Sinica Pub Date : 2024-09-04 DOI:10.1109/JAS.2023.123861

Kewei Xia;Xinyi Li;Kaidan Li;Yao Zou

{"title":"用于多架四旋翼无人飞行器合作跟踪的分布式预定义时间控制","authors":"Kewei Xia;Xinyi Li;Kaidan Li;Yao Zou","doi":"10.1109/JAS.2023.123861","DOIUrl":null,"url":null,"abstract":"Dear Editor, This letter addresses the predefined-time control for cooperative tracking of multiple quadrotor unmanned aerial vehicles (UAVs) under a directed communication network. A predefined-time distributed estimator is first introduced to accurately get the reference velocity and acceleration for each UAV. Then, a cascade predefined-time control strategy is proposed to guarantee that all the UAVs track the reference trajectory while maintaining a preassigned configuration, where an attitude constraint algorithm is developed to avoid the flipping over of each VAV. Stability analysis demonstrates that the tracking errors of the closed-loop systems converge to zero within a predefined time. Finally, experiment results validate the proposed control strategy.","PeriodicalId":54230,"journal":{"name":"Ieee-Caa Journal of Automatica Sinica","volume":"11 10","pages":"2179-2181"},"PeriodicalIF":15.3000,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10664603","citationCount":"0","resultStr":"{\"title\":\"Distributed Predefined-Time Control for Cooperative Tracking of Multiple Quadrotor UAVs\",\"authors\":\"Kewei Xia;Xinyi Li;Kaidan Li;Yao Zou\",\"doi\":\"10.1109/JAS.2023.123861\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Dear Editor, This letter addresses the predefined-time control for cooperative tracking of multiple quadrotor unmanned aerial vehicles (UAVs) under a directed communication network. A predefined-time distributed estimator is first introduced to accurately get the reference velocity and acceleration for each UAV. Then, a cascade predefined-time control strategy is proposed to guarantee that all the UAVs track the reference trajectory while maintaining a preassigned configuration, where an attitude constraint algorithm is developed to avoid the flipping over of each VAV. Stability analysis demonstrates that the tracking errors of the closed-loop systems converge to zero within a predefined time. Finally, experiment results validate the proposed control strategy.\",\"PeriodicalId\":54230,\"journal\":{\"name\":\"Ieee-Caa Journal of Automatica Sinica\",\"volume\":\"11 10\",\"pages\":\"2179-2181\"},\"PeriodicalIF\":15.3000,\"publicationDate\":\"2024-09-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10664603\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Ieee-Caa Journal of Automatica Sinica\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10664603/\",\"RegionNum\":1,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Ieee-Caa Journal of Automatica Sinica","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10664603/","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

摘要

亲爱的编辑，这封信讨论了在定向通信网络下对多个四旋翼无人飞行器（UAV）进行合作跟踪的预定义时间控制。首先介绍了一种预定义时间分布式估计器，用于精确获取每个无人飞行器的参考速度和加速度。然后，提出了一种级联预定义时间控制策略，以保证所有无人飞行器在跟踪参考轨迹的同时保持预先分配的配置，其中开发了一种姿态约束算法，以避免每个无人飞行器翻转。稳定性分析表明，闭环系统的跟踪误差在预定时间内趋于零。最后，实验结果验证了所提出的控制策略。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Distributed Predefined-Time Control for Cooperative Tracking of Multiple Quadrotor UAVs

Dear Editor, This letter addresses the predefined-time control for cooperative tracking of multiple quadrotor unmanned aerial vehicles (UAVs) under a directed communication network. A predefined-time distributed estimator is first introduced to accurately get the reference velocity and acceleration for each UAV. Then, a cascade predefined-time control strategy is proposed to guarantee that all the UAVs track the reference trajectory while maintaining a preassigned configuration, where an attitude constraint algorithm is developed to avoid the flipping over of each VAV. Stability analysis demonstrates that the tracking errors of the closed-loop systems converge to zero within a predefined time. Finally, experiment results validate the proposed control strategy.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Ieee-Caa Journal of Automatica Sinica Engineering-Control and Systems Engineering

CiteScore

23.50

自引率

11.00%

发文量

880

期刊介绍： The IEEE/CAA Journal of Automatica Sinica is a reputable journal that publishes high-quality papers in English on original theoretical/experimental research and development in the field of automation. The journal covers a wide range of topics including automatic control, artificial intelligence and intelligent control, systems theory and engineering, pattern recognition and intelligent systems, automation engineering and applications, information processing and information systems, network-based automation, robotics, sensing and measurement, and navigation, guidance, and control. Additionally, the journal is abstracted/indexed in several prominent databases including SCIE (Science Citation Index Expanded), EI (Engineering Index), Inspec, Scopus, SCImago, DBLP, CNKI (China National Knowledge Infrastructure), CSCD (Chinese Science Citation Database), and IEEE Xplore.