Название: Robust H∞ Team Formation Tracking Design Methods of LargeScale UAV Networked Control Systems
Автор: Bor-Sen Chen
Издательство: CRC Press
Год: 2025
Страниц: 278
Язык: английский
Формат: pdf (true), epub
Размер: 24.4 MB

This book introduces the centralized robust H∞ team formation tracking control strategy of multi-unmanned aerial vehicle (multi-UAV) network system under intrinsic random fluctuation, time-varying delay and packet dropout in wireless communication, and external disturbance. A simple robust decentralized H∞ proportional-integral-derivative (PID) reference tracking network control strategy is introduced for practical applications of team formation of large-scale UAV under control saturation constraint, external disturbance, and vortex coupling. It provides practical design procedures based on linear matrix inequalities (LMIs) solvable via LMI TOOLBOX in MATLAB.

In future 5G and 6G era, it is a landmark that we are going to the next industry revolution toward automation and large data exchange in manufacturing technology and smart cities. The involved processes include cyber-physical systems (CPS), cyber-social systems (CSS), the Internet of Things (IoT), Industrial Internet of Things (IIOT), cloud computing, and others. To meet the wide application of abovementioned needs in the next era, the unmanned aerial vehicle (UAV) technology has become a popular issue in industry and academia area due to its fast-growing market and vast application such as military, searching, rescuing delivery and wireless communication platform. Due to the wide prospect of new industry requirements and relative technologies, a large-scale UAV system connected by wireless communication network is expected for various fields and a large-scale UAV formation flight is a prospec tive important technology to construct a smart city in the future.

With the prospective widespread application of multi-UAV team formation system in the future, the formation fight design problem of multi-UAV network control system has recently become a hot topic. The common formation control method is to establish a control strategy for a team of UAVs to achieve their desired target tracking, such as switching interaction topologies method, lead-follower method with a consensus formation control algorithm, and interactive leader-follower configuration with leader to interact with the followers via virtual leader etc. The centralized control architecture has been usually embedded in conventional multi-UAV formation controls. In order to resist external disturbances such as wind gust and intrinsic fluctuation from impacting UAV components, a robust centralized H∞ team formation control design of multi-UAV formation control design is needed. However, the number of UAVs in the multi-UAV system is almost less than five in most literature. For a large-scale UAV team formation system, robust centralized H∞ control methods have the unsolved or unscaled difficulty due to computational complexity and even insolvability problem. Therefore, robust decentralized H∞ team formation networked control scheme is not only comprehensive for actual flight and wireless communication environment but also scalable and feasible for controller design of the large-scale UAV team formation networked control system (NCS), while the number of UAVs in the team formation system will increase in future 5G and 6G era.

Further, robust decentralized H∞ attack-tolerant observer-based team formation tracking control of large-scale quadrotor UAV system is also an important research topic while malicious attack signals invade via wireless channels in networked control system. In order to accomplish a more complex and difficult task such as search and rescue, an integration of local motion planning and robust decentralized H∞ fault-tolerant team formation tracking control strategy of hybrid UAVs and biped robots team is necessary. For the practical industrial applications, the robust decentralized H∞ proportional-integral-derivative (PID) team formation control for large-scale UAVs network control system is also a simple but useful design strategy to deserve more research works. These robust H∞ control strategies and their applications to the networked control system of large-scale UAVs to accomplish some specific tasks are the mains topics of the book. Consequently, this book is useful for postgraduate students, engineers, and scientists in mechanical engineering, electrical engineering aerospace engineering, control engineering, and applied mathematics.

Features:

Focuses on the stabilization of a QUAV under finite-time switching model control (SMC)
Discusses robustness control design for formation tracking in UAV networks
Introduces different robust centralized and decentralized H∞ attack-tolerant observer-based reference team formation tracking control of large-scale UAVs
Reviews practical case studies in each chapter to introduce the design procedures
Includes design examples of team formation of 25 quadrotor UAVs and a team formation example of five hybrid quadrotor/biped robot sub-teams

Contents: