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- 저자 : Qianda Luo (검색결과 2 건)
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Data-driven Model Free Formation Control for Multi-USV System in Complex Marine Environments
Hongbin Wang,Qianda Luo,Ning Li,Wei Zheng 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.11
Formation control of multi-USV system in complex marine environments is investigated in this study, and a data-driven disturbance observer (DDO)-based model free adaptive control (MFAC) framework is suggested. The FMAC scheme is designed by using only the input and output data of complex USV dynamics, including the calculation of pseudo-Jacobian matrix (PJM) and the calculation of control law. To avoid the problem that the MFAC method cannot be directly applied to USV systems, an improved DDO is used to estimate the complex environmental disturbances and PJM estimation errors. Further, forgetting factor based MFAC (FMFAC) is proposed to avoid overshoot caused by redundant data. Then, the PJM estimation is proved to be accurate while the control structure of DDO-FMFAC is proved to be bounded-input and bounded-output (BIBO). Finally, the performances of the proposed method including effectiveness and robustness are shown in simulation results.
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Ning Li,Hongbin Wang,Qianda Luo,Wei Zheng 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.4
In this paper, the leader-follower distributed formation control of quadrotor unmanned aerial vehicles (UAVs) with communication constraints is studied, in which the leader’s information can only be obtained by one follower quadrotor UAV. To make every follower quadrotor UAV get the leader’s information, a distributed estimator was designed for each follower to estimate the leader’s information. Therefore, the requirements of communication topology can be reduced, and the accuracy and speed of formation control can be improved under the condition of reducing the communication of quadrotor UAVs. An improved integral sliding mode control protocol is provided by introducing a multi-time scale singularly perturbed system to ensure that follower quadrotor UAVs can keep a predetermined formation while tracking the desired trajectory. Then, the stability analysis of the proposed controller is conducted using singularly perturbed and Lyapunov theory. Simulation results of different formations show that multiple quadrotor UAVs can complete formation tasks efficiently and accurately.
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