控制理论(社会学)
反推
李雅普诺夫函数
跟踪误差
控制器(灌溉)
观察员(物理)
约束(计算机辅助设计)
计算机科学
有界函数
扰动(地质)
Lyapunov稳定性
稳定性理论
理论(学习稳定性)
控制(管理)
数学
非线性系统
自适应控制
人工智能
机器学习
古生物学
数学分析
物理
几何学
生物
量子力学
农学
作者
Fang Wang,Yali Gao,Chao Zhou,Qun Zong
标识
DOI:10.1016/j.amc.2021.126693
摘要
This paper presents a distributed formation tracking control strategy which acts on multiple quadrotor unmanned aerial vehicles (QUAVs) formation control under external disturbance and asymmetric output error constraints. An asymmetric barrier Lyapunov function (BLF) is applied to ensure the constraint of output error. Based on graph theory and backstepping control method, a distributed formation controller is designed to achieve the formation and maintenance of formations, where external disturbance is handled by disturbance observer (DO). In the framework of Lyapunov theory, the bounded stability of the closed-loop system is proved, and the output error is remained within the constraint range. The superiority and effectiveness of the designed control strategy is verified by the compared simulation.
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