垂直起降飞行器集群分布式编队控制邹尧孙永斌孟子阳贺威冶金工业出 pdf下载

1 Introduction

1.1 Research Significance

1.2 Research Overview

1.2.1 Research Status on Cooperative Control Methodr/>
1.2.2 Research Status on UAV Cluster Projectr/>
1.3 Outline

Referencer/>
2 Background and Preliminarier/>
2.1 Preliminarier/>
2.1.1 Notation and Definitionr/>
2.1 . 2 Useful Lemmar/>
2.1.3 Filippov Solution and Non-Smooth Analysir/>
2.2 Graph Theory

2.3 System Models of VTOL UAVr/>
2.3.1 Attitude Representation

2.3.2 Kinematics and Dynamics of VTOL UAVr/>
2.4 Conclusionr/>
Referencer/>
3 Distributed Formation Control for Clustered VTOL UAVs Over a Switching Topology

3.1 Problem Statementr/>
3.1.1 System Model

3.1.2 Switching Topology Graph

3.1.3 Control Objective

3.2 Distributed Control Algorithm Development Over a Switching Topology

3.2.1 Problem Transformation

3.2.2 Command Force Synthesir/>
3.2.3 Applied Torque Synthesir/>
3.2.4 Stability Analysir/>
3.3 Simulationr/>
3.4 Conclusionr/>
Referencer/>
4 Distributed Formation Control for Clustered VTOL UAVs Over a Distance-Based Topology

4.1 Problem Statementr/>
4.1.1 System Model

4.1.2 Distance-Based Network Topology

4.1.3 Control Objective

4.2 Distributed Control Algorithm With Connectivity Maintenance Mechanir/>
4.2.1 Problem Transformation

4.2.2 Command Force Synthesir/>
4.2.3 Applied Torque Synthesir/>
4.2.4 Stability Analysir/>
4.3 Simulationr/>
4.4 Conclusionr/>
Referencer/>
5 Adaptive Distributed Formation Control for Clustered VTOL UAVs with Parametric Uncertaintier/>
5.1 Problem Statementr/>
5.1.1 System Model

5.1.2 Topology Graph

5.1.3 Control Objective

5.2 Adaptive Distributed Control Algorithm

5.2.1 Problem Transformation

5.2.2 Command Force Synthesir/>
5.2.3 Applied Torque Synthesir/>
5.2.4 Stability Analysir/>
5.3 Simulationr/>
5.4 Conclusionr/>
Referencer/>
6 Adaptive Fault-Tolerant Distributed Formation Control for Clustered VTOL UAVr/>
6.1 Problem Statementr/>
6.1.1 System Model

6.1.2 Actuator Faultr/>
6.1.3 Topology Graph

6.1.4 Control Objective

6.2 Adaptive Fault-Tolerant Distributed Control Algorithm

6.2.1 Problem Transformation

6.2.2 Command Force Synthesir/>
6.2.3 Desired Torque Synthesir/>
6.2.4 Stability Analysir/>
6.3 Simulationr/>
6.4 Conclusionr/>
Referencer/>
7 Distributed Formation Tra Control for Clustered VTOL UAVs Over Undirected Topology

7.1 Problem Statementr/>
7.1.1 System Model

7.1.2 Network Topology

7.1.3 Control Objective

7.2 Distributed Control Algorithm Development Over Undirected Topology

7.2.1 Command Force Synthesir/>
7.2.2 Command Attitude Extraction

7.2.3 Applied Torque Synthesir/>
7.2.4 Stability Analysir/>
7.3 Simulationr/>
7.4 Conclusionr/>
Referencer/>
8 Distributed Formation Tra Control for Clustered VTOL UAVs Over Directed Topology

8.1 Background

8.1.1 Problem Statementr/>
8.1.2 Network Topology

8.2 Distributed Control Algorithm Development Over Directed Topology

8.2.1 Distributed Estimator Design

8.2.2 Problem Transformation

8.2.3 Command Force Synthesir/>
8.2.4 Applied Torque Synthesir/>
8.2.5 Stability Analysir/>
8.3 Simulationr/>
8.4 Conclusionr/>
Referencer/>
9 Distributed Output-Feedback Formation Tra Control for Clustered VTOL UAVr/>
9.1 Problem Statementr/>
9.1.1 System Model

9.1.2 Network Topology

9.1.3 Control Objective

9.2 Distributed Output-Feedback Control Algorithm Development

9.2.1 Command Force Synthesir/>
9.2.2 Command Attitude Extraction

9.2.3 Applied Torque Synthesir/>
9.2.4 Stability Analysir/>
9.3 Simulation

9.4 Conclusionr/>
Referencer/>