Broad-RBFNN-Based Intelligence Adaptive Antidisturbance Formation Control for a Class of Cluster Aerospace Unmanned Systems with Multiple High-Dynamic Uncertainties

Erxin Gao,Xin Ning,Xiaokui Yue,Zheng Wang,Xianggui Guo

doi:10.1155/2021/6634175

Abstract

This paper investigates the antidisturbance formation control problem for a class of cluster aerospace unmanned systems (CAUSs) suffering from multisource high-dynamic uncertainties. Firstly, to estimate and compensate the uncertainties existing in CAUS coordinate dynamics, an adaptive antidisturbance formation control law, which is combined by a robust adaptive control law and the second order disturbance observer, has been designed. Secondly, aiming at the adverse influences caused by the nonlinear time-varying nonlinearities existing in the formation flight dynamics, the radial basis function neural network (RBFNN) is introduced. Furthermore, considering the rapidly varying characteristics of the aforementioned formation flight nonlinearities, a novel board RBFNN (B-RBFNN) has been constructed and utilized to improve the approximation and compensation performance. In virtue of the fusing of the B-RBFNN and the second-order disturbance observer-based adaptive formation control law, the rapid response rate and the higher control accuracy of the formation control system can be achieved. As a result, a novel B-RBFNN-based intelligence adaptive antidisturbance formation control algorithm has been established for CAUS trajectory coordination and formation flight. Numerical simulation results are proposed to illustrate the effectiveness and advantages of the proposed B-RBFNN-based intelligent adaptive formation control method for the CAUS.

Highlights

Academic Editor: Xianggui Guo is paper investigates the antidisturbance formation control problem for a class of cluster aerospace unmanned systems (CAUSs) suffering from multisource high-dynamic uncertainties
To estimate and compensate the uncertainties existing in CAUS coordinate dynamics, an adaptive antidisturbance formation control law, which is combined by a robust adaptive control law and the second order disturbance observer, has been designed
Aiming at the adverse influences caused by the nonlinear time-varying nonlinearities existing in the formation flight dynamics, the radial basis function neural network (RBFNN) is introduced

Summary

Research Article

Received 26 December 2020; Revised 6 November 2021; Accepted 18 November 2021; Published 7 December 2021. To estimate and compensate the uncertainties existing in CAUS coordinate dynamics, an adaptive antidisturbance formation control law, which is combined by a robust adaptive control law and the second order disturbance observer, has been designed. A second order disturbance observer and a robust adaptive control law are designed to estimate and compensate the multisource high-dynamic uncertainties. Erefore, the goal of this paper is to design an intelligence adaptive antidisturbance formation control algorithm for the CAUS (2) to achieve the position coordination and system stability under the existence of external disturbances and input uncertainties. Second-Order Disturbance Observer-Based Outer Loop Adaptive Antidisturbance Formation Control Law Design. Topology of communication graph high order disturbance di (t) observer in Eq (13)

Broad RBFNN

HTi Hi

Δfi d i

Conclusions