《Motion Coordination for VTOL Unmanned Aerial Vehicles: Attitude Synchronis...

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《Motion Coordination for VTOL Unmanned Aerial Vehicles: Attitude Synchronisation and Formation Control》
垂直起降无人机的运动协调:姿态同步与编队控制
作者：
Abdelkader Abdessameud
Dept of Electr. & Computer Engineering
The University of Western Ontario
London, Canada

Abdelhamid Tayebi
Department of Electrical Engineering
Lakehead University
Thunder Bay, Canada
出版社：Springer
出版时间：2013年

《Motion Coordination for VTOL Unmanned Aerial Vehicles: Attitude Synchronisation and Formation Cont ...

《Motion Coordination for VTOL Unmanned Aerial Vehicles: Attitude Synchronisation and Formation Cont ...

《Motion Coordination for VTOL Unmanned Aerial Vehicles: Attitude Synchronisation and Formation Cont ...

《Motion Coordination for VTOL Unmanned Aerial Vehicles: Attitude Synchronisation and Formation Cont ...

目录
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Overview on Coordination Approaches . . . . . . . . . . . . . . . 2
1.2 Attitude Synchronization of Rigid-Body Systems . . . . . . . . . . 3
1.3 FormationControlofVTOLUAVs . . . . . . . . . . . . . . . . . 6
1.4 HandlingCommunicationDelays . . . . . . . . . . . . . . . . . . 8
1.5 Book Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 Background and Preliminaries . . . . . . . . . . . . . . . . . . . . . 11
2.1 Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.1.1 NotationandDefinitions . . . . . . . . . . . . . . . . . . . 11
2.1.2 UsefulLemmas . . . . . . . . . . . . . . . . . . . . . . . 12
2.1.3 Bounded Functions . . . . . . . . . . . . . . . . . . . . . 13
2.1.4 InformationFlowModeling . . . . . . . . . . . . . . . . . 14
2.2 Attitude Representation and Kinematics . . . . . . . . . . . . . . 16
2.2.1 Attitude Representation . . . . . . . . . . . . . . . . . . . 17
2.2.2 Attitude Kinematics . . . . . . . . . . . . . . . . . . . . . 21
2.3 Dynamical Model of VTOL UAVs . . . . . . . . . . . . . . . . . 22
2.3.1 Example of Quadrotor Aircraft . . . . . . . . . . . . . . . 22
2.3.2 ExampleofDucted-FanAircraft . . . . . . . . . . . . . . 24
2.3.3 Nominal Model for VTOL UAVs . . . . . . . . . . . . . . 25
3 Rigid-Body Attitude Synchronization . . . . . . . . . . . . . . . . . . 27
3.1 The Attitude Synchronization Problem . . . . . . . . . . . . . . . 27
3.2 Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.2.1 Relative Attitude Error . . . . . . . . . . . . . . . . . . . . 28
3.2.2 Attitude Tracking Error . . . . . . . . . . . . . . . . . . . 30
3.3 State Feedback Attitude Synchronization . . . . . . . . . . . . . . 31
3.4 Velocity-Free Attitude Synchronization—First Approach . . . . . 33
3.4.1 Leaderless and Leader-Follower Attitude Synchronization . 34
3.4.2 Leaderless Attitude Synchronization with Zero Final
Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
xiii
xiv Contents
3.4.3 Cooperative Attitude Tracking . . . . . . . . . . . . . . . 41
3.5 Velocity-Free Attitude Synchronization—Second Approach . . . . 42
3.5.1 Leaderless and Leader–Follower Attitude Synchronization . 43
3.5.2 Cooperative Attitude Tracking . . . . . . . . . . . . . . . 46
3.6 SimulationResults . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.7 Discussion and Concluding Remarks . . . . . . . . . . . . . . . . 57
4 Rigid-Body Attitude Synchronization with Communication Delays . 63
4.1 State Feedback Attitude Synchronization . . . . . . . . . . . . . . 64
4.1.1 Leaderless and Leader-Follower Attitude Synchronization . 64
4.1.2 Cooperative Attitude Tracking . . . . . . . . . . . . . . . 68
4.2 Attitude Synchronization Without Angular Velocity Measurements 69
4.2.1 Case of Undirected Networks and Time-Varying
CommunicationDelays . . . . . . . . . . . . . . . . . . . 71
4.2.2 Case of Directed Networks and Constant Communication
Delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.3 SimulationResults . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.4 Discussion and Concluding Remarks . . . . . . . . . . . . . . . . 80
5 Position Tracking for VTOL UAVs . . . . . . . . . . . . . . . . . . . 85
5.1 Position Control Design Method . . . . . . . . . . . . . . . . . . 86
5.1.1 Thrust and Desired Attitude Extraction . . . . . . . . . . . 86
5.1.2 Control Design Procedure . . . . . . . . . . . . . . . . . . 88
5.2 Position Tracking Control of VTOL UAVs . . . . . . . . . . . . . 89
5.2.1 DesignintheFullState InformationCase . . . . . . . . . . 90
5.2.2 Design Without Linear-Velocity Measurements . . . . . . . 95
5.3 SimulationResults . . . . . . . . . . . . . . . . . . . . . . . . . . 101
5.4 Concluding Remarks . . . . . . . . . . . . . . . . . . . . . . . . . 101
6 Formation Control of VTOL UAVs . . . . . . . . . . . . . . . . . . . 105
6.1 FormationControl intheFullState InformationCase . . . . . . . 106
6.2 Formation Control Without Linear-Velocity Measurements . . . . 112
6.3 Redesign with Reduced Information Flow . . . . . . . . . . . . . 118
6.4 SimulationResults . . . . . . . . . . . . . . . . . . . . . . . . . . 122
6.5 Concluding Remarks . . . . . . . . . . . . . . . . . . . . . . . . . 124
7 Formation Control with Communication Delays . . . . . . . . . . . . 129
7.1 FormationControl intheFullState InformationCase . . . . . . . 129
7.1.1 Delay-Dependent Formation Control Scheme . . . . . . . 131
7.1.2 Delay-Independent Formation Control Scheme . . . . . . . 137
7.2 Formation Control Without Linear-Velocity Measurements . . . . 140
7.2.1 Delay-Dependent Formation Control Scheme . . . . . . . . 140
7.2.2 Delay-Independent Formation Control Scheme . . . . . . . 143
7.3 SimulationResults . . . . . . . . . . . . . . . . . . . . . . . . . . 146
7.4 Concluding Remarks . . . . . . . . . . . . . . . . . . . . . . . . . 149
Contents xv
8 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
8.1 Rigid-Body Attitude Synchronization . . . . . . . . . . . . . . . . 153
8.2 FormationControlofVTOLUAVs . . . . . . . . . . . . . . . . . 154
8.3 OpenProblems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Appendix Proofs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
A.1 Proof of Lemma 2.9 . . . . . . . . . . . . . . . . . . . . . . . . . 157
A.2 Proof of Lemma 3.1 . . . . . . . . . . . . . . . . . . . . . . . . . 158
A.3 Proof of Lemma 3.2 . . . . . . . . . . . . . . . . . . . . . . . . . 160
A.4 Proof of Theorem 3.3 . . . . . . . . . . . . . . . . . . . . . . . . 161
A.5 Proof of Theorem 3.5 . . . . . . . . . . . . . . . . . . . . . . . . 163
A.6 Proof of Theorem 3.6 . . . . . . . . . . . . . . . . . . . . . . . . 165
A.7 Proof of Lemma 4.1 . . . . . . . . . . . . . . . . . . . . . . . . . 167
A.8 Proof of Theorem 4.2 . . . . . . . . . . . . . . . . . . . . . . . . 168
A.9 Proof of Theorem 4.6 . . . . . . . . . . . . . . . . . . . . . . . . 169
A.10 Proof of Lemma 7.1 . . . . . . . . . . . . . . . . . . . . . . . . . 170
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

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垂直起降无人机的运动协调:姿态同步与编队控制

《Motion Coordination for VTOL Unmanned Aerial Vehicles: Attitude Synchronisation and Formation Cont ...

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