Abstract
In this study, the robust H∞ event-triggered team formation tracking control design of multi-VTOL-UAVs in networked system is investigated. To describe the realistic networked system and UAV model, the intrinsic continuous Wiener random fluctuation, discontinuous Poisson random fluctuations, external disturbances and time-varying delays of wireless network are formulated in the proposed nonlinear stochastic jump diffusion system structure. By combining the event-triggered multi-UAV dynamic models and reference model into an augmented system, the robust H∞ event-triggered multi-UAV networked team tracking problem can be transformed to a Hamilton-Jacobi inequality(HJI)-constraint optimization problem. Due to the difficulties in solving HJI-constraint optimization problem, for practical application, the T-S fuzzy techniques are adopted to efficiently approximate the nonlinear multi-UAVs system by a set of local linearized networked systems. Thus, the HJI-constraint optimization problem for the H∞ event-triggered robust formation team tracking control can be transformed to a linear matrix inequality(LMI)-constraint optimization problem and can be easily solved by the convex optimization techniques. Finally, a simulation example is given to validate the effectiveness of the proposed event-triggered robust H∞ team formation tracking control for the multi-VTOL-UAV system.
Highlights
Unmanned aerial vehicles (UAVs) have received a growing interest no matter in academic research or industrial field in recent years
In this study, the stochastic H∞ virtual structure team tracking control strategy embedded with event-triggered mechanism is proposed for the formation design problem of multi-UAV networked system in future smart city
Interference and delay in networked system, the intrinsic random fluctuation, time-varying delay and unknown external disturbances from the environment are considered in the proposed nonlinear stochastic multi-UAV networked system
Summary
Unmanned aerial vehicles (UAVs) have received a growing interest no matter in academic research or industrial field in recent years. An event-triggered mechanism and a robust state feedback controller are designed simultaneously to ensure that the controlled multi-VTOL-UAV networked system could gradually track on their desired team path with the desired attitude despite intrinsic random fluctuation in the UAV system and external disturbance from the environment. Without using conventional time-triggered control for multi-UAV networked system in previous studies, the event-triggered mechanism is utilized for the multi-UAV team formation tracking control design to relieve the communication load and save the energy consumption for the UAV networked system in future smart city. Vi(t) ∈ L2F (R+; R12) denotes the finite energy external disturbance in the ith UAV system, which is produced by the unpredictable interference from the wireless network and the neighboring UAVs. Wi(t) ∈ R1 is the Wiener process which is continuous but non-differentiable, and σi(xi(t))dWi(t) denotes the effect of continuous stochastic intrinsic fluctuation caused by the modeling uncertainty of the ith UAV.
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