具有性能预设的多机编队目标跟踪控制

doi:10.12305/j.issn.1001-506X.2021.04.25

Abstract

Abstract:

Aiming at the problem of performance control in target tracking of unmanned aerial vehicle (UAV) formation, a distributed multi-UAV formation target tracking control method with performance prescribed is proposed. Firstly, a formation description and target tracking strategy based on motion parameters is proposed to realize the phase preset and formation control of formation. Secondly, the error problem with performance constraint is converted into unconstrained error control by the error transformation method, and the consensus prescribed performance control law is given. Then the exponential and prescribed time performance functions are designed respectively to realize the control of different performances under the same control law, which ensures the convergence time and the transient and steady state performance during the formation target tracking. The simulation results show that UAV formation control can be realized within the expected performance constraints and the target can be tracked.

Key words: target tracking, prescribed performance control, formation control, consensus control, performance function

CLC Number:

Yi ZHANG, Guowei FANG, Xiuxia YANG. Target tracking control of multi-UAV formation with prescribed performance guarantees[J]. Systems Engineering and Electronics, 2021, 43(4): 1069-1079.

Figures/Tables 6

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References 30

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Target tracking control of multi-UAV formation with prescribed performance guarantees

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