Research On Time-varying Formation Control For UAV-UGV Heterogeneous Swarm System

Heterogeneous systems accomplish tasks through information interaction and coordination among different kinds of agents.Compared with the traditional individual or homogeneous formation,heterogeneous systems have great advantages in efficiency,cost,adaptability,flexibility and reliability.Therefore,heterogeneous system formation and cooperation will have wide application prospects in the future.At the same time,heterogeneous formation system contains multiple agents,each agent has different dynamic model and encounters different external time-varying interference,which will make the system more complex.Considering many practical constraints,such as imperfect communication,complex uncertainty,global information unavailability and so on,the design of a reliable and efficient anti-interference formation control method for heterogeneous systems becomes the key to the realization of heterogeneous time-varying formation.Based on consensus method and extended state observer,the disturbance rejection time-varying formation control problem of heterogeneous systems is studied in this paper.In the general case of directed communication topology and time-varying formation,combined with the uncertainty of each agent,aiming at the practical problems and constraints in formation control,we gradually carry out heterogeneous time-varying formation control based on consistency,anti-interference formation control based on distributed extended state observer and anti-interference formation control based on random switching of communication topology.1.Aiming at the UAV UAV heterogeneous formation system,the control method of UAV UAV heterogeneous time-varying formation is studied.In order to make the heterogeneous system form formation according to the command,a formation control protocol for the heterogeneous system is proposed.When the formation is realized,each individual is allowed to have different speed.Secondly,the consistency based method is used to deal with the time-varying formation control problem of heterogeneous systems.The necessary and sufficient conditions to determine whether the heterogeneous system can realize time-varying formation are given.The explicit expression of time-varying formation reference function is derived.In addition,the method of designing control protocol for heterogeneous system to realize time-varying formation is given.Finally,a heterogeneous formation composed of two UAVs and two ground vehicles is introduced,and the verification results on the simulation platform prove the effectiveness of the method.2.For the heterogeneous time-varying formation with uncertainties and external disturbances,based on the second chapter,an extended state observer(ESO)based disturbance rejection control method is proposed for the time-varying formation of heterogeneous systems with uncertain nonlinear dynamics and external time-varying disturbances.Firstly,a distributed ESO is established to estimate the uncertainty of heterogeneous systems,and a disturbance rejection formation control law based on ESO is proposed,and a set of algorithm is proposed to select the parameters of the control law.Then,the necessary and sufficient conditions for the heterogeneous system to realize the anti-jamming time-varying formation based on the control law are obtained,and it is strictly proved that the heterogeneous system can stably realize the anti-jamming time-varying formation under the necessary and sufficient conditions of the formation and based on the proposed control law.3.For a class of high-order uncertain nonlinear heterogeneous systems with switched directed topology,the disturbance rejection time-varying formation control problem is studied.Firstly,a distributed extended state observer is constructed to estimate the uncertain nonlinear dynamic disturbance and external disturbance of each agent in the formation process of time-varying formation.A new formation control protocol based on extended state observer is proposed,and the algorithm for selecting parameters of formation control protocol is given.The necessary and sufficient conditions for realizing time-varying formation with disturbance rejection under this protocol are also explained.It is proved that the proposed formation control protocol can realize time-varying formation with disturbance rejection for high-order uncertain nonlinear heterogeneous systems with switched directed topology when the feasibility conditions are satisfied.Finally,the simulation results show the effectiveness of the theoretical results.