Stochastic Robust Team Tracking Control of Multi-UAV Networked System Under Wiener and Poisson Random Fluctuations.

Abstract

In this article, a robust leader-follower tracking control scheme is proposed to deal with the stochastic multi-unmanned aerial vehicle (UAV) networked team tracking control problem to achieve a prescribed H∞ robust tracking performance. By taking the leader's desired path and every UAV networked system into account, the leader-follower tracking error networked system is constructed by arranging the UAVs network systems into a leader-follower formation. To effectively reduce the effect of the external disturbance on the team tracking process, a robust H∞ controller is proposed. With the help of the Itô-Lévy formula, the robust team tracking control design of the multi-UAV system is transformed to a Hamilton-Jacobin inequality (HJI)-constrained optimization problem. Since the HJI constraint cannot be easily solved, the Takagi-Sugeno (T-S) fuzzy interpolation method is employed to approximate the nonlinear networked system with a set of local linearized stochastic networked systems to simplify the design procedure. By the proposed T-S fuzzy control method, the H∞ robust leader-follower tracking control design of the stochastic multi-UAV networked system can be transformed to equivalent linear matrix inequalities (LMIs)-constrained optimization problem which can be efficiently solved by using the convex optimization techniques. Finally, a design example is given with simulation to illustrate the design procedure of the robust team tracking control of desired attitude and path and validate the effectiveness of the proposed robust H∞ team tracking control method of the multi-UAV networked system.