垂直起降飞行器集群分布式编队控制 pdf下载

本书共九章，章作了一些介绍。第二章给出了一些数学预备知识，以方便后面的学论分析。第三至第六章介绍编队飞行目标；在交换拓扑、距离的情况下提出了分布式控制算法分别基于拓扑、参数不确定性和执行器故障。第七章和第八章在无向和有向拓扑上开发了两种分布式控制算法，重新分别。第九章开发了一种输出反馈分布式控制算法。在没有速度和角速度信息的情况下运行。 本书是为从事航空、机器人、飞机等领域工作的读者编写的。

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/>