Stochastic Decentralized H∞ Tracking Control of Large-Scale Team Formation UAV Networked Control System with Time-Varying Delay and Packet Dropout under Interconnected Coupling and Wiener Fluctuation
Bor‐Sen Chen · 2024
In this chapter, a robust decentralized tracking control scheme is proposed for a large-scale quadrotor UAV formation team networked control system (NCS) to overcome a non-scalable or even infeasible team formation design problem due to high computational complexity by the centralized control. First, wind external disturbance, intrinsic fluctuation, coupling from other quadrotor UAV subsystems, time-varying network-induced delay and packet dropout are considered in the design procedure of large-scale team formation quadrotor UAV NCS. Moreover, an event-triggered mechanism is embedded in NCS to reduce the number of transmitted control signals to save the network traffic especially for a large-scale team formation NCS of quadrotor UAVs. To effectively reduce these uncertainties, a robust H ∞ decentralized leader-follower tracking controller is proposed for the large-scale quadrotor UAV team NCS. The H ∞ robust decentralized tracking control design problem of the large-scale quadrotor UAV team formation NCS is transformed to an independent Hamilton-Jacobin inequality (HJI)-constrained optimization problem for each UAV, which can be effectively solved by a linear matrix inequality (LMI)-constrained optimization problem by T-S fuzzy interpolation method. Finally, a large-scale UAV team formation example of quadrotor 25 UAVs NCS is proposed to validate the effectiveness of the proposed robust decentralized tracking controller.