多个飞艇的均方协同跟踪控制  

Mean-square Cooperative Tracking Control of Multiple Airships

作　　者：王程 李武全 WANG Cheng;LI Wuquan(School of Mathematics and Statistics Science,Ludong University,Yantai 264039,China)

机构地区：[1]鲁东大学数学与统计科学学院,山东烟台264039

出　　处：《鲁东大学学报（自然科学版）》2023年第4期344-351,共8页Journal of Ludong University:Natural Science Edition

基　　金：山东省高等学校“青创科技计划”(2019KJN017)。

摘　　要：针对受二阶矩过程干扰的多个飞艇系统,提出了一种新的控制器设计方案,解决其均方协同跟踪控制问题。首先在混合坐标系下建模,得到飞艇的随机系统模型;结合反推法和图论,设计了具有可调参数的协同控制器。所设计的控制器不仅能够保证闭环系统所有信号依概率有界,还能使领导者与跟随者之间的输出跟踪误差均方调节到任意小。最后,通过仿真实例验证了所提控制方案的有效性。The mean-square cooperative tracking control problem of multiple airships systems with second-order moment processes is studied and a new controller design scheme is proposed in this paper.Firstly,the stochastic system model of airship was obtained by modeling in the mixed coordinate system.By combining backstepping method and graph theory,new cooperative controllers with adjustable parameters were designed to ensure that all the signals of the closed-loop system are bounded in probability.In addition,the mean-square of the tracking errors between the followers' output and the leader's output can be made arbitrarily small.Finally,the effectiveness of the designed control scheme was verified by a simulation example.

关 键 词：多个飞艇系统 均方协同跟踪控制 二阶矩过程 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]