Stochastic Robust Team Tracking Control of Multi-UAV Networked System Under Wiener and Poisson Random Fluctuations
Bor‐Sen Chen, Chunping Wang, Min‐Yen Lee · IEEE Transactions on Cybernetics · 2020
In this article, a robust leader–follower tracking control scheme is proposed to deal with the stochastic multi-unmanned aerial vehicle (UAV) networked team tracking control problem to achieve a prescribed$H_{\infty }$robust tracking performance. By taking the leader’s desired path and every UAV networked system into account, the leader–follower tracking error networked system is constructed by arranging the UAVs network systems into a leader–follower formation. To effectively reduce the effect of the external disturbance on the team tracking process, a robust$H_{\infty }$controller is proposed. With the help of the Itô–Lévy formula, the robust team tracking control design of the multi-UAV system is transformed to a Hamilton–Jacobin inequality (HJI)-constrained optimization problem. Since the HJI constraint cannot be easily solved, the Takagi–Sugeno (T–S) fuzzy interpolation method is employed to approximate the nonlinear networked system with a set of local linearized stochastic networked systems to simplify the design procedure. By the proposed T–S fuzzy control method, the$H_{\infty }$robust leader–follower tracking control design of the stochastic multi-UAV networked system can be transformed to equivalent linear matrix inequalities (LMIs)-constrained optimization problem which can be efficiently solved by using the convex optimization techniques. Finally, a design example is given with simulation to illustrate the design procedure of the robust team tracking control of desired attitude and path and validate the effectiveness of the proposed robust$H_{\infty }$team tracking control method of the multi-UAV networked system.