无人集群系统时变编队H∞控制

针对有向通信拓扑网络下具有通信时滞与外部干扰的无人集群系统（AUSS）时变编队H_∞控制问题进行了研究。首先，基于AUSS期望编队构型信息、无人机（UAV）实时状态信息以及通信UAV之间带通信时滞的状态误差信息提出了AUSS的编队控制方法，通过变量替换将AUSS的编队控制问题转换成低维闭环系统的渐近稳定问题，并以线性矩阵不等式（LMI）形式给出了系统稳定的充分条件与最大允许通信时滞的计算公式。其次，通过构造Lyapunov-Krasovskii（L-K）泛函，证明了存在通信时滞与外部干扰条件下AUSS能够实现时变编队。最后，通过数值仿真验证所设计方法的准确性与有效性。 

Time-varying formation H∞ control for air unmanned swarm system

This paper studies the time-varying formation H_∞ control problem for Air Unmanned Swarm System (AUSS) under directed communication topology, corrupted by communication delay and external disturbances. First, based on the expected formation configuration information of swarm system, the real-time state information of Unmanned Aerial Vehicle (UAV) and the state error information with communication delay between UAVs which are able to communicate, the formation control approach of unmanned swarm system is proposed. Through variable substitution, the swarm system formation control problem is converted into the asymptotic stability problem of lower-dimensional closed-loop system, and the sufficient conditions for the stability of the system and the calculation formula of the maximum allowable communication delay are given in the form of Linear Matrix Inequalities (LMIs). Then, it is proved that the unmanned swarm system can accomplish time-varying formation by constructing Lyapunov-Krasovskii (L-K) functional. Finally, through numerical simulation, the accuracy and effectiveness of the proposed method are verified.