无人机-无人车异构时变编队控制与扰动抑制

研究了无人机-无人车异构系统时变输出编队控制与扰动抑制问题，要求多无人机与无人车在受到未知外部扰动的情况下，保持设计的输出时变编队构型。首先，对无人机与无人车进行单体运动学与动力学建模，同时建立扰动模型，并引入代数图论概念，建立异构集群系统的协同控制模型。然后，对各无人机-无人车设计了具有分层架构的分布式时变输出编队控制器，包含基于一致性理论的编队中心估计项和基于内模原理的扰动抑制补偿项。进一步分析异构系统实现输出时变编队的可行性条件，给出了分布式编队控制器的参数选取算法，并证明了时变编队控制器构成的闭环系统的稳定性。最后，通过仿真算例来验证所设计的编队控制器的有效性。

Time-varying formation control and disturbance rejection for UAV-UGV heterogeneous swarm system

This paper studies the time-varying formation control and disturbance rejection problems for heterogeneous UAV-UGV swarm system. The UAV-UGV swarm system is designed to achieve the desired time-varying output formation under unknown external disturbances. First, the kinetic and dynamic mathematical models of each UAV/UGV are established. In addition, the cooperative control models for heterogeneous swarm system are constructed by using the algebraic graph theory. Then, a distributed time-varying output formation controller is designed based on the internal model theory. The distributed formation center estimator and disturbance rejection compensator are designed and added to the formation controller. Third, an algorithm is presented to design the formation control parameters, where the feasibility conditions for achieving the time-varying output formation are given. The stability of the closed-loop UAV-UGV swarm system is proved. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed formation control approach.