Distributed Robust UAVs Formation Control Based on Semidefinite Programming  

作　　者：Peiyu Zhang Jianshan Zhou Daxin Tian Xuting Duan Dezong Zhao Kan Guo 

机构地区：[1]School of Transportation Science and Engineering,Beihang University,Beijing 100191,China [2]James Watt School of Engineering,University of Glasgow,Glasgow,G128QQ,UK

出　　处：《Tsinghua Science and Technology》2024年第5期1341-1354,共14页清华大学学报自然科学版（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.52202391,U20A20155,and 52302397);the China Postdoctoral Science Foundation(No.2023M730173).

摘　　要：The formation control of unmanned aerial vehicle(UAV)swarms is of significant importance in various fields such as transportation,emergency management,and environmental monitoring.However,the complex dynamics,nonlinearity,uncertainty,and interaction among agents make it a challenging problem.In this paper,we propose a distributed robust control strategy that uses only local information of UAVs to improve the stability and robustness of the formation system in uncertain environments.We establish a nominal control strategy based on position relations and a semi-definite programming model to obtain control gains.Additionally,we propose a robust control strategy under the rotation setΩto address the noise and disturbance in the system,ensuring that even when the rotation angles of the UAVs change,they still form a stable formation.Finally,we extend the proposed strategy to a quadrotor UAV system with high-order kinematic models and conduct simulation experiments to validate its effectiveness in resisting uncertain disturbances and achieving formation control.

关 键 词：multi-unmanned aerial vehicle(UAV)systems formation control uncertain perturbation robust distributed control 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]