Research On Anti-disturbance Formation Control Of UAV-UGV Heterogeneous System

Multi-agent system has the advantages of wide operation range,high execution efficiency and good task adaptability compared with a single agent.With the increasing complexity of actual tasks,heterogeneous multi-agent systems can effectively compensate for the defects of only the same type of agents and greatly improve the comprehensive performance of cooperative operation.Therefore,heterogeneous multiagent systems have broad application prospects and become a new research hotspot in the field of multi-agent formation.At the same time,the formation stability of heterogeneous multi-agent systems is seriously threatened due to the complex uncertainties that widely exist in the actual environment.Taking a typical UAV-UGV heterogeneous system as the research object,this thesis studies the anti-disturbance formation control,anti-disturbance formation tracking control and finite time antidisturbance formation tracking control of UAV-UGV heterogeneous system with complex uncertainty.The main research contents are as follows.1.The anti-disturbance formation control of UAV-UGV heterogeneous system with complex uncertainty is studied.Firstly,the time-varying gain extended state observer(ESO)is constructed to estimate the time-varying uncertainty.At the same time,the strict stability proof and the determination method of time-varying gain are given.Then an anti-disturbance formation control protocol based on time-varying gain extended state observer is designed,the stability of anti-disturbance formation is analyzed,and the feasibility conditions of realizing time-varying formation are given.The simulation results show that the proposed time-varying gain extended state observer and control protocol can enable the UAV-UGV heterogeneous system to form the expected formation,and can effectively suppress the peak effect at the initial time.2.The anti-disturbance formation tracking control of UAV-UGV heterogeneous system with complex uncertainty is studied.The virtual leader is introduced to describe the desired trajectory,and a distributed extended state observer is constructed.Combined with the adaptive theory,a fully distributed anti-disturbance time-varying formation tracking control protocol according to ESO is proposed.The protocol relies only on the state information of neighboring UAV/UAV and does not require any global information,which solves to a certain extent the problem of difficulty in obtaining global information in actual formations.The simulation results verify that the UAVUGV heterogeneous system can realize fully distributed anti-disturbance time-varying formation tracking control,and can track the trajectory of the virtual leader while form the expected formation.3.The finite time anti-disturbance formation tracking control problem of UAVUGV heterogeneous system with complex uncertainty is studied.Firstly,based on the homogeneous system theory,a finite-time convergent extended state observer is proposed.By constructing a quasi-Lyapunov function for stability analysis,the initial convergence and stability of the finite-time convergent extended state observer are guaranteed.Then,based on the finite-time convergent extended state observer,a fully distributed anti-disturbance formation tracking control protocol is designed,the parameter tuning method of the protocol is given,and its stability is analyzed.The simulation results verify that the introduction of finite-time convergent state observer improves the rapidity and accuracy of state observation and anti-disturbance formation tracking.