Abstract
In this article, a robust decentralized tracking control scheme for a large-scale unmanned aerial vehicle (UAV) formation team networked control system (NCS) is proposed to overcome a non-scalable or even infeasible design problem due to high computational complexity by the centralized control. At the outset, wind external disturbance, intrinsic fluctuation, coupling from other UAV subsystems, time-varying network-induced delay and packet dropout are taken into account in the design procedure of large-scale team formation UAV network system. Moreover, an event-triggered mechanism is embedded in NCS to reduce the number of transmitted control signals to save the network traffic especially for a large-scale team formation network of UAVs. To effectively reduce the above uncertainties, a robust \textH <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> decentralized tracking controller is proposed for the large-scale UAV team formation NCS which is constructed by virtual leader-follower tracking network of UAV subsystems. By the Takagi-Sugeno (T-S) fuzzy interpolation method, the \textH <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> robust virtual leader-follower decentralized tracking control design problem of the large-scale UAV team formation NCS is transformed to an independent Hamilton-Jacobin inequality (HJI)-constrained optimization problem for each UAV, which is effectively solved by a linear matrix inequality (LMI)-constrained optimization problem. Finally, a large-scale UAV team formation example of 25 UAVs is proposed to validate the effectiveness of the proposed robust decentralized tracking controller of large-scale UAV team formation NCS.
Highlights
For this generation, it is a landmark that we are going to the industry revolution toward automation and data exchange in manufacturing technologies and smart cities
For the actual flight process, the wind disturbance and intrinsic fluctuation caused by non-ideal component characteristics in the unmanned aerial vehicle (UAV) subsystem are considered
The coupling effect induced by other UAVs in large-scale UAV team formation networked control system (NCS) is taken into account too
Summary
It is a landmark that we are going to the industry revolution toward automation and data exchange in manufacturing technologies and smart cities. To meet the wide application of industrial needs in the era, the unmanned aerial vehicle (UAV) technology has become a popular issue in industry and academia area due to its fast-growing market and vast applications such as military, searching, rescuing, delivery, and wireless communication [5], [6]. Due to the wide prospect of new industry requirements and relative technologies mentioned above, a large-scale UAV system connected by the wireless network. Lee et al.: Stochastic H∞ Robust Decentralized Tracking Control of Large-Scale Team Formation UAV Network System is expected for various fields [7], and a large-scale UAV formation flight is prospective to be an important technology to construct a smart city in the future
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