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本文研究了有向图下具有非线性和干扰的无人机群的分布式合围控制问题.其中仅部分跟随者是领导者的邻居,对于每一个跟随者,至少存在一条从领导者到这个跟随者有向路径.文中假设无人机的空气动力学特性是非线性不确定的,并且领导者的输出是时变的.结合反推设计方法提出了仅利用邻居信息的分布式合围控制方法,使得跟随者的状态收敛于领导者状态所张成的凸包里.利用神经网络函数逼近技术补偿无人机系统中的非线性不确定项,通过李雅普诺夫稳定性理论证明了合围误差可以以任意收敛速度收敛到原点任意小的邻域.最后通过仿真结果验证了控制协议的有效性.
In this paper, we study the problem of distributed containment control for UAVs with directed and directed disturbances, in which only some of the followers are the neighbors of the leader. For each follower, there is at least one from the leader to the follower In this paper, we assume that the aerodynamic characteristics of UAV are non-linear and the output of the leader is time-varying.With the method of backpropagation, we propose a distributed containment control method using only neighbor information, The state converges to the convex hull in the state of the leader.The neural network function approximation technique is used to compensate for the nonlinear uncertainties in the UAV system and the Lyapunov stability theory is used to prove that the encirclement error can converge arbitrarily The speed converges to any small neighborhood of the origin.Finally, the simulation results verify the effectiveness of the control protocol.