无人艇与四旋翼无人机固定时间异构编队控制

Aiming at the formation control problem of the heterogeneous system composed of multiple quadrotor unmanned aerial vehicle and underactuated surface vessels in the presence of disturbance, the fixed time disturbance observer and the fixed time formation controller are designed. Firstly, the dynamic model of underactuated surface vessels is processed, and the unified mathematical expression of underactuated surface vessels and quadrotor unmanned aerial vehicle in the ground coordinate system is obtained. Then, aiming at the uncertain disturbance in the communication network caused by the dynamic characteristics of heterogeneous systems, the disturbance observer based on fixed time is designed for each follower. Using backstepping and fixed time stability theory, an observer-based distributed fixed time formation controller is designed for each follower to ensure that the formation state error of each follower converges in a fixed time. Finally, the feasibility of the proposed control algorithm is verified by simulation.