A Scheme For Cooperative Control Of Multi-vehicle Systems Under Multiple Constraints

In the military aviation field, with the mission effectiveness of the aircraft systems required for continuous improvement and the flight environment becoming more complicated, the model using a variety/multiple aircraft to complete the task has important practical significance, which in turn promotes cooperative control theory and technology of the multi-moving vehicles system rapid development. However, there currently exist three deficiencies: 1) The uncertainty of the actual moving vehicle model is less considered, that is, the condition of control law is often assumed that the moving vehicle dynamics model is known or completely free from interference; 2) The control law often overlooks the actuator saturation which is a practical constraint; 3) It is Often assumed that all state information of moving vehicle can be measured accurately.Therefore, the thesis aims to propose a distributed robust consensus position tracking algorithm and apply the tracking algorithm to the cooperative control. Specifically, the following research has been completed:At first, by graph theory, the communication topology between multiple moving vehicles was established and according to Newton’s second law, the second-order model of moving vehicle was also obtained. For this double integral model with actuator saturation limits, the bounded distributed consensus controller with and without velocity feedback was designed respectively(State feedback and output feedback). The tracking error convergence of closed-loop system was proved in theory and simulation examples were given to demonstrate the accuracy of the conclusions.Then, while maintaining the moving vehicle’s actuator saturation limits, adding quality changes and the external disturbances, the robust bounded distributed consensus controller with and without velocity feedback was designed respectively. Wherein the algorithm consists of two parts: one part is the stabilizer, the other is a continuous uncertainty and disturbance estimator(UDE). The error system was proved small-signal L?stable and locally input-to-state stable(LISS) by the nonlinear theory of Lyapunov theorem, LaSalle’s Invariance principle and barbalat?Lemma, and it was theoretically proved that the introduction of interference compensator could effectively inhibit the mass perturbations and external disturbances affecting the accuracy of the tracking system. Through numerical simulation, with and without interference compensation, the final boundary of tracking error contrasted. Meanwhile, tracking accuracy was discussed with the order of UDE.Finally, using the global coordinate transformation, feedback linearization techniques, and results for the double integral system, for combat missions, fixed point blow, cooperative tracking to moving target and formation flying, the appropriate robust flight control law was designed respectively. Under these three combat modes, numerical simulations show the effectiveness of the control law and the suppression performance of interference compensator on the flight was tested.