海军航空大学学报2025，Vol.40Issue(4)：539-546,556,9.DOI:10.7682/j.issn.2097-1427.2025.04.004
多无人机非周期间歇事件触发协同跟踪控制
Aperiodically Intermittent Event-Triggered Cooperative Tracking Control for Multiple UAVs
摘要
Abstract
To address the cooperative tracking control problem of multi-UAV systems under intermittently denied commu-nication conditions,an aperiodically intermittent event-triggered control strategy is proposed.First,a dynamic event-triggering mechanism is designed to reduce communication among UAVs,thereby improving the scalability of the system for large-scale multi-agent coordination tasks.Then,an error compensation mechanism is developed to mitigate the track-ing errors caused by unknown bounded inputs of the leader and denied communication environments.On this basis,the cooperative tracking control problem under general directed graphs is further investigated.Finally,Lyapunov-based stabil-ity analysis and numerical simulations verify the effectiveness of the proposed control strategy.关键词
事件触发控制/非周期间歇通信/多无人机系统/协同跟踪Key words
event-triggered control/aperiodically intermittent communication/multi-UAV systems/cooperative tracking分类
信息技术与安全科学引用本文复制引用
秦文宇,张勇,吕跃勇,马广富..多无人机非周期间歇事件触发协同跟踪控制[J].海军航空大学学报,2025,40(4):539-546,556,9.基金项目
国家自然科学基金(U23B6001) （U23B6001）
航天科技创新基金(SAST2023-085) （SAST2023-085）
