| Title | Stochastic Robust Team Formation Tracking Design of Multi-VTOL-UAV Networked Control System in Smart City Under Time-Varying Delay and Random Fluctuation |
|---|---|
| ID_Doc | 42766 |
| Authors | Lee, MY; Chen, BS; Chang, Y; Hwang, CL |
| Title | Stochastic Robust Team Formation Tracking Design of Multi-VTOL-UAV Networked Control System in Smart City Under Time-Varying Delay and Random Fluctuation |
| Year | 2020 |
| Published | |
| Abstract | In this study, the robust H-infinity event-triggered team formation tracking control design of multi-VTOL-UAVs in networked system is investigated. To describe the realistic networked system and UAV model, the intrinsic continuous Wiener random fluctuation, discontinuous Poisson random fluctuations, external disturbances and time-varying delays of wireless network are formulated in the proposed nonlinear stochastic jump diffusion system structure. By combining the event-triggered multi-UAV dynamic models and reference model into an augmented system, the robust H-infinity event-triggered multi-UAV networked team tracking problem can be transformed to a Hamilton-Jacobi inequality(HJI)-constraint optimization problem. Due to the difficulties in solving HJI-constraint optimization problem, for practical application, the T-S fuzzy techniques are adopted to efficiently approximate the nonlinear multi-UAVs system by a set of local linearized networked systems. Thus, the HJI-constraint optimization problem for the H-infinity event-triggered robust formation team tracking control can be transformed to a linear matrix inequality(LMI)-constraint optimization problem and can be easily solved by the convex optimization techniques. Finally, a simulation example is given to validate the effectiveness of the proposed event-triggered robust H-infinity team formation tracking control for the multi-VTOL-UAV system. |
| https://ieeexplore.ieee.org/ielx7/6287639/8948470/09142225.pdf |
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