Stochastic Robust H∞ Team Formation Tracking Design of Multi-Quadrotor UAV Networked Control System under Time-Varying Delay and Random Fluctuation in Smart City
Bor‐Sen Chen · 2024
In this chapter, the robust H ∞ event-triggered team formation tracking control design of multi-quadrotor-UAVs in networked control system (NCS) is investigated. To describe the realistic model of quadrotor UAV NCS, the intrinsic continuous Wiener random fluctuation, discontinuous Poisson random fluctuation, external disturbance and time-varying transmission delay of wireless network are formulated in the proposed nonlinear stochastic jump diffusion quadrotorUAV NCS. By combining the stochastic model of event-triggered multi-quadrotor UAV NCS with reference dynamic model into an augmented nonlinear stochastic system, the robust optimal H ∞ event-triggered multi-quadrotor-UAV NCS team formation tracking problem can be transformed to a Hamilton-Jacobi inequality (HJI)-constrained optimization problem. In order to overcome the difficulties in solving HJI-constraint optimization problem for practical applications, the T-S fuzzy techniques are adopted to efficiently approximate the nonlinear multi-quadrotor UAV NCS by a set of local linearized NCSs. Thus, the HJI-constrained optimization problem for the H ∞ event-triggered robust formation team tracking control of multi-quadrotor NCS can be transformed to a linear matrix inequality (LMI)-constrained optimization problem and can be easily solved by the convex optimization techniques. Finally, a simulation example is given to validate the proposed team formation tracking control for the multi-quadrotor-UAV NCS.