Distributed Formation Control of Clustered VTOL UAVs
定 價(jià):69 元
- 作者:鄒堯 孫永斌 孟子陽(yáng) 賀威
- 出版時(shí)間:2022/3/31
- ISBN:9787502490980
- 出 版 社:冶金工業(yè)出版社
- 中圖法分類:TP
- 頁(yè)碼:164
- 紙張:
- 版次:1
- 開(kāi)本:16開(kāi)
AbstractThereareninechaptersinthisbook.Thefirstchaptergivessomeintroduction.Thesecondchaptergivessomemathematicalpreliminariesfortheconvenienceofthesubsequenttheoreticalanalysis.Thethirdtosixthchaptersfocusontheformationflightobjective;andthedistributedcontrolalgorithmsareproposedinthecasesofswitchingtopology,distancebasedtopology,parametricuncertaintiesandactuatorfaults,respectively.Theseventhtoninthchaptersfocusontheformationtrackingobjective.Intheseventhandeighthchapters,twodistributedcontrolalgorithmsaredevelopedoverundirectedanddirectedtopologies,respectively.Intheninthchapter,anoutputfeedbackdistributedcontrolalgorithmisdevelopedintheabsenceofvelocityandangularvelocityinformation.Thisbookiswrittenforthereaderswhoareworkingontheareasofaviation,robotics,aircraft,etc.
Contents1Introduction11.1ResearchSignificance11.2ResearchOverview21.2.1ResearchStatusonCooperativeControlMethods21.2.2ResearchStatusonUAVClusterProjects61.3Outline10References112BackgroundandPreliminaries142.1Preliminaries142.1.1NotationandDefinitions142.1.2UsefulLemmas152.1.3FilippovSolutionandNonSmoothAnalysis172.2GraphTheory182.3SystemModelsofVTOLUAVs192.3.1AttitudeRepresentation192.3.2KinematicsandDynamicsofVTOLUAVs202.4Conclusions29References293DistributedFormationControlforClusteredVTOLUAVsOveraSwitchingTopology323.1ProblemStatements323.1.1SystemModel323.1.2SwitchingTopologyGraph333.1.3ControlObjective333.2DistributedControlAlgorithmDevelopmentOveraSwitchingTopology343.2.1ProblemTransformation343.2.2CommandForceSynthesis373.2.3AppliedTorqueSynthesis393.2.4StabilityAnalysis403.3Simulations463.4Conclusions49References514DistributedFormationControlforClusteredVTOLUAVsOveraDistanceBasedTopology524.1ProblemStatements524.1.1SystemModel524.1.2DistanceBasedNetworkTopology534.1.3ControlOb