火力与指挥控制2024，Vol.49Issue(12)：47-54,61,9.DOI:10.3969/j.issn.1002-0640.2024.12.005
多无人机系统固定时间动态事件触发二部一致
Fixed-time Dynamic Event-triggered Bipartite Consensus Control of MUAVs
摘要
Abstract
A event-triggered fixed-time bipartite consensus control protocol is proposed based on a fixed time observer to estimate the state information of the leader in multi-unmanned aerial vehicle sys-tems(MUAVs).In this scheme,the observer is designed to obtain the state of the leader and solve the prob-lem of information delay and inaccuracy caused by some followers obtaining the state of the leader through the communication network in practical systems.Then,the dynamic event-triggered mechanism is introduced into the observer and controller respectively to reduce unnecessary triggering and avoid waste of communication resources by relying on dynamic variables.Through Lyapunov stability theory,it is proved that MUAVs with disturbance can achieve fixed-time bipartite consensus under the designed dynamic event-triggered control scheme,and there is no Zeno phenomenon.Finally,the feasibility and effectiveness of the algorithm are verified by simulation experiments.关键词
多无人机系统/观测器/二部一致/动态事件触发控制/固定时间Key words
MUAVs/observer/bipartite consensus/dynamic event-triggered control/fixed-time分类
信息技术与安全科学引用本文复制引用
吕永霞,付兴建..多无人机系统固定时间动态事件触发二部一致[J].火力与指挥控制,2024,49(12):47-54,61,9.基金项目
国家自然科学基金资助项目(61973041) （61973041）
