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Volume 47 Issue 2
Feb.  2021
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Journal of Beijing University of Aeronautics and Astronautics  > 2021  >  47(2): 271-280.
KANG Yuhang, DAI Hongde, QI Yahui, et al. Time-varying formation H∞ control for air unmanned swarm system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 271-280. doi: 10.13700/j.bh.1001-5965.2020.0200(in Chinese)
Citation: KANG Yuhang, DAI Hongde, QI Yahui, et al. Time-varying formation H∞ control for air unmanned swarm system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 271-280. doi: 10.13700/j.bh.1001-5965.2020.0200(in Chinese)
shu

Time-varying formation H∞ control for air unmanned swarm system

doi: 10.13700/j.bh.1001-5965.2020.0200
  • 1.

    Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China

  • 2.

    College of Aviation Foundation, Naval Aeronautical University, Yantai 264001, China

  • 3.

    School of Aeronautics and Astronautics, Sun Yat-Sen University, Guangzhou 510275, China

Funds:

National Key R & D Program of China 2018YFB1308000

National Natural Science Foundation of China U1813205

National Natural Science Foundation of China U1913202

National Natural Science Foundation of China U1713213

National Natural Science Foundation of China 61772508

National Defense Pre-research Project Fund F062102009

More Information
  • Corresponding author: CHENG Jun. E-mail: jun.cheng@siat.ac.cn
  • Received Date: 22 May 2020
  • Accepted Date: 17 Jul 2020
  • Publish Date: 20 Feb 2021
    Abstract

  • This paper studies the time-varying formation H∞ control problem for Air Unmanned Swarm System (AUSS) under directed communication topology, corrupted by communication delay and external disturbances. First, based on the expected formation configuration information of swarm system, the real-time state information of Unmanned Aerial Vehicle (UAV) and the state error information with communication delay between UAVs which are able to communicate, the formation control approach of unmanned swarm system is proposed. Through variable substitution, the swarm system formation control problem is converted into the asymptotic stability problem of lower-dimensional closed-loop system, and the sufficient conditions for the stability of the system and the calculation formula of the maximum allowable communication delay are given in the form of Linear Matrix Inequalities (LMIs). Then, it is proved that the unmanned swarm system can accomplish time-varying formation by constructing Lyapunov-Krasovskii (L-K) functional. Finally, through numerical simulation, the accuracy and effectiveness of the proposed method are verified.

     

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