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Adaptive formation tracking control for UAV swarm systems with multiple leaders and switching topologies

机译：具有多种领导和切换拓扑的UAV群系统的自适应形成跟踪控制

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摘要

Adaptive formation tracking problems for UAV swarm systems are studied. An adaptive formation tracking protocol using neighboring relative state information is proposed, which can adjust the time-varying coupling weights among neighboring UAVs. It is proved that the adaptive formation tracking can be achieved under the proposed protocol. Finally, numerical simulation examples are given to demonstrate the effectiveness of the theoretical results.

机译：研究了UAV群系统的自适应形成跟踪问题。提出了一种使用相邻相对状态信息的自适应形成跟踪协议，其可以调整相邻的UAV之间的时变耦合权重。事实证明，可以根据所提出的协议实现自适应形成跟踪。最后，给出了数值模拟实施例来证明理论结果的有效性。

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《Chinese Automation Congress》|2020年|5532-5537|共6页
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作者
Yuxin Xie; Liang Han; Lei Zhang; Xiwang Dong; Qingdong Li; Zhang Ren;
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关键词
Topology; Switches; Protocols; Unmanned aerial vehicles; Control systems; Laplace equations; Couplings;

机译：拓扑;开关;协议;无人驾驶飞行器;控制系统;拉普拉斯方程;联轴器;

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专利

1. Time-Varying Formation Tracking for UAV Swarm Systems With Switching Directed Topologies [J] . Neural Networks and Learning Systems, IEEE Transactions on . 2019,第12期

机译：具有切换定向拓扑的无人机群系统的时变编队跟踪
2. Bio-inspired adaptive formation tracking control for swarm systems with application to UAV swarm systems [J] . Xie Yuxin, Han Liang, Dong Xiwang, Neurocomputing . 2021,第Sepa17期

机译：用于UAV Swarm Systems的群体系统的生物启发自适应形成跟踪控制
3. Time-varying output formation tracking of heterogeneous linear multi-agent systems with multiple leaders and switching topologies [J] . Hu Yongzhao, Dong Xiwang, Wang Junbo, Journal of the Franklin Institute . 2019,第1期

机译：具有多个领导者和切换拓扑的异构线性多主体系统的时变输出形成跟踪
4. Time-varying formation tracking control for UAV-UGV heterogeneous swarm systems with switching directed topologies [C] . Siquan Zhou, Xiwang Dong, Qingdong Li, IEEE International Conference on Control and Automation . 2020

机译：具有切换定向拓扑的UAV-UGV异构群系统时变形式跟踪控制
5. Graph theoretic framework based cooperative control and estimation of multiple UAVs for target tracking. [D] . Ahmed, Mousumi. 2012

机译：基于图论框架的协同控制和多个用于目标跟踪的无人机的估计。
6. Robust consensus tracking control of multiple mechanical systems under fixed and switching interaction topologies [O] . Jianhui Liu, Bin Zhang -1

机译：固定和交换交互拓扑下的多个机械系统的鲁棒共识跟踪控制
7. Cooperative Adaptive Time-Varying Formation Tracking for Multi-Agent Systems with LQR Performance Index and Switching Directed Topologies [O] . Junyan Hu, Alexander Lanzon 2018

机译：具有LQR性能指标和切换定向拓扑的多智能体系的协同适应时变形跟踪
8. Tracking with a Cooperatively Controlled Swarm of GMTI Equipped UAVS [R] . Bar-Shalom, Y. 2008

机译：用协同控制的GmTI装备无人机跟踪跟踪

Adaptive formation tracking control for UAV swarm systems with multiple leaders and switching topologies

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