面向空地协同作战的无人机原无人车异构 时变编队跟踪控制

This paper studies the time varying formation tracking control problems for heterogeneous UAV-UGV swarm system. The UAVs and UGVs need to achieve the desired time-varying formation and track the reference trajectory of a leader synchronously. Firstly, the kinetic and dynamic mathematical model for each UAV-UGV is established, and the cooperative control model for heterogeneous swarm system by using algebraic graph theory is setup. Then, a virtual leader is used to describe the motion trajectory of the whole formation, and the distributed formation tracking controller is designed for each UAV-UGV based on the distributed observer for virtual leader's state. Furthermore, the feasibility conditions to achieve the time-varying formation tracking are analyzed, and an algorithm to design the control parameters is given. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed control approach.