关键词: 无人机, 编队控制, 预设时间稳定, 扩张状态观测器, 分布式估计器, 多智能体一致性理论

Abstract: Unmanned aerial vehicle(UAV) formation can achieve complex collective tasks and reduce the risk and operation difficulty of a single one. A distributed formation compound control method under the leader-follower structure based on the preset time stability theory and multi-agent consensus theory is designed for the problem of UAV swarm formation control in three-dimensional scene. Firstly, the multi-UAVs kinematic model is established by analyzing the relationship between the actual input and the equivalent control. To enhance the robustness of the UAVs against external disturbances, a prescribed-time convergent extended state observer is designed to realize the online estimation of the disturbance based on active disturbance rejection control theory. Furthermore, considering that only followers connected to the leader can access the leader's state information, a prescribed-time convergent distributed estimator is introduced to rapidly estimate the leader’s state. On this basis, a prescribed-time convergent consensus formation control algorithm is proposed combined with the output of the observer and the estimator, and the prescribed-time stability of the closed-loop system is proved by Lyapunov theory. Finally, simulation results validate the effectiveness of the proposed methods. The research results show that the designed control method can achieve stable UAV formation cooperative control within a preset time in the presence of external disturbances.

Key words: unmanned aerial vehicle；formation control, prescribed-time stability theory, extended state observer, distributed estimator, multi-agent consensus theory