智能有限时间形成控制,用于飞翼微型飞行器
Xiaoyan He1, Zhaojing Yang1, Linke Zhang1
1School of Statistics and Mathematics, Inner Mongolia University of Finance and Economics, Huhhot, 010070, China.
Heliyon
|November 2, 2023
概括
本研究介绍了对多个飞翼微型飞行器 (FWMAV) 的智能有限时间控制. 拟议的自适应神经网络控制确保了FWMAV的形成跟踪,避免碰撞和连接性保护.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 人工智能的人工智能
背景情况:
- 折叠翼微型空中飞行器 (FWMAV) 由于其复杂的动力学,提出了独特的控制挑战.
- 在多车辆系统中实现协调的形成控制需要对不确定性和外部干扰进行强有力的处理.
研究的目的:
- 为多个FWMAVs开发一个智能有限时间形成控制策略.
- 为应对FWMAV系统中不确定性估计,碰撞避免,连接性保护和有限时间融合等挑战.
主要方法:
- 使用拉格朗日力学推导FWMAV转换和旋转运动方程.
- 将系统解为内部和外部双循环子系统.
- 适应性神经网络估计算法的应用,用于不确定性和干扰估计.
- 开发智能控制协议,利用潜在能量函数,通用反矩阵和有限时间稳定理论.
主要成果:
- 成功估计了模型不确定性和外部干扰.
- 在多个FWMAV之间实现避免碰撞.
- 确保在FWMAV阵营内保持连接.
- 为了形成跟踪控制目标,证明了有限时间的趋同.
- 通过 MATLAB 模拟验证了拟议的控制协议的有效性和优越性.
结论:
- 拟议的智能有限时间控制策略有效地管理多FWMAV系统中的不确定性和干扰.
- 控制协议确保安全和协调的组合飞行,包括避免碰撞和连接维护.
- 模拟结果证实了FWMAV形成控制开发的方法的稳定性和效率.
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