Research On Finite Time Cooperative Control Of Heterogeneous Ground-air Multi-robot Systems

The heterogeneous ground-air multi-robot system can well combine the load capacity of mobile robots with the space vision capacity of flying robots.It has extensive and important aspects in areas such as regional inspection,geographic survey,pursuit and evasion,coordinated landing,surveillance and transportation,etc.With the application prospect,more and more scholars have carried out research work on the cooperative control of such systems.In the research topic of cooperative control,the finite time control has the advantages such as faster convergence performance,higher precision and less energy consumption.Therefore,the dissertation takes two-wheeled UGV and quadrotor UAV as the research subject,mainly discusses the fixed-time trajeactory tracking control of single robot and prescribed-time cooperative control of multiple robots by establishing a model of heterogeneous ground-air multi-robot systems with a layered structure.The main contents and contributions are as follows.Firstly,to achieve fixed-time cooperative control for single UGV and UAV,for a class of underactuated robots,the systems are divided into inner and outer ring subsystems by the structure of sub-loop control.Combining with non-singular terminal sliding mode control method,fixed-time trajeactory tracking controllers are proposed to control the subsystems of the robots.Through numerical simulation experiments,it is verified that the UAV can track the two-dimensional plane trajectory of the UGV in a fixed time.Secondly,to achieve prescribed-time cooperative control for multi-mobile robots,prescribed-time consensus and containment algorithms are proposed under leaderless and leader-following conditions.Thirdly,to achieve finite time cooperative control of heterogeneous ground-air multi-robot systems,by using prescribed-time distributed observer,the UGV's planar position states can be obtained by each following UAV.Also a prescribed-time cooperative tracking controller is explicitly constructed guaranteeing leader-following cooperative flight.In order to verify the efficacy of the developed cooperative control scheme,some simulation examples are given.