Distributed Formation Control of Clustered VTOL UAVs

定　　价：69 元

• 作者：邹尧 孙永斌 孟子阳 贺威
• 出版时间：2022/3/31
• ISBN：9787502490980
• 出 版 社：冶金工业出版社

• 中图法分类：TP 
• 页码：164
• 版次：1
• 开本：16开

内容简介

AbstractThereareninechaptersinthisbook.Thefirstchaptergivessomeintroduction.Thesecondchaptergivessomemathematicalpreliminariesfortheconvenienceofthesubsequenttheoreticalanalysis.Thethirdtosixthchaptersfocusontheformationflightobjective;andthedistributedcontrolalgorithmsareproposedinthecasesofswitchingtopology,distancebasedtopology,parametricuncertaintiesandactuatorfaults,respectively.Theseventhtoninthchaptersfocusontheformationtrackingobjective.Intheseventhandeighthchapters,twodistributedcontrolalgorithmsaredevelopedoverundirectedanddirectedtopologies,respectively.Intheninthchapter,anoutputfeedbackdistributedcontrolalgorithmisdevelopedintheabsenceofvelocityandangularvelocityinformation.Thisbookiswrittenforthereaderswhoareworkingontheareasofaviation,robotics,aircraft,etc.

目 录

Contents1Introduction11.1ResearchSignificance11.2ResearchOverview21.2.1ResearchStatusonCooperativeControlMethods21.2.2ResearchStatusonUAVClusterProjects61.3Outline10References112BackgroundandPreliminaries142.1Preliminaries142.1.1NotationandDefinitions142.1.2UsefulLemmas152.1.3FilippovSolutionandNonSmoothAnalysis172.2GraphTheory182.3SystemModelsofVTOLUAVs192.3.1AttitudeRepresentation192.3.2KinematicsandDynamicsofVTOLUAVs202.4Conclusions29References293DistributedFormationControlforClusteredVTOLUAVsOveraSwitchingTopology323.1ProblemStatements323.1.1SystemModel323.1.2SwitchingTopologyGraph333.1.3ControlObjective333.2DistributedControlAlgorithmDevelopmentOveraSwitchingTopology343.2.1ProblemTransformation343.2.2CommandForceSynthesis373.2.3AppliedTorqueSynthesis393.2.4StabilityAnalysis403.3Simulations463.4Conclusions49References514DistributedFormationControlforClusteredVTOLUAVsOveraDistanceBasedTopology524.1ProblemStatements524.1.1SystemModel524.1.2DistanceBasedNetworkTopology534.1.3ControlOb