复杂不确定性下多无人机的抗扰时变编队控制

针对存在不确定非线性动态和外部时变干扰的多无人机系统的时变编队问题，提出了基于扩张状态观测器(ESO)的抗扰编队控制方法。首先建立了分布式ESO来估计多无人机系统的不确定性，基于ESO的输出提出了抗扰编队控制律，并提出一套算法来对控制律进行参数选定。然后，通过分析得到基于该控制律下，多无人机系统实现抗扰时变编队所需要的充要条件，并最终严格证明了在满足编队充要条件和基于提出的控制律下，多无人机系统可以稳定实现抗扰时变编队。最后仿真结果表明理论方法的有效性。

Time Varying Anti Disturbance Formation Control for Multi UAV Systems with Complex Uncertainties

This paper considers the time-varying anti-disturbance formation control problem for multi-UAV systems with directed topologies. A distributed extended state observer (ESO) is constructed to estimate the uncertain nonlinear dynamics and external disturbance suffered by the UAVs during the time-varying formation process. Based on the ESO, a novel distributed formation control protocol is proposed. Then, an algorithm to specify the protocol is derived and the necessary and sufficient conditions for the multi-UAV systems to achieve time-varying anti-disturbance formation are demonstrated. It is strictly proved that the time-varying anti-disturbance formation can be achieved by the multi-UAV systems under the proposed protocol in the case where the formation conditions are fully satisfied. The effectiveness of the theoretical results is finally illustrated by numerical simulations.