近年來，多無人機系統因其龐大的應用領域及發展而備受關注。然而，這種多無人機網路系統的團隊追蹤控制仍然是一個複雜的控制問題;除此之外，它不僅可能遭受外部干擾也會受到內在擾動的影響包括連續的布朗運動和不連續的布瓦松運動。在這項研究中，一個leader-follower 團隊追蹤控制被提出來處理這種隨機多無人機網路系統的團隊追蹤問題並且可以同時保證其達到Hꝏ強健穩定的追踪性能。起初，多部無人機網路系統動態模型被組合為一個擴增系統，並且將其轉換成一個shift tracking error dynamic system來表示多無人機leader-follower formation參考追蹤系統。因此，這種多無人機系統團隊追踪控制設計的問題可以轉變為Hamilton-Jacobin（HJI）不等式約束優化問題。但是，這個HJI約束優化問題設計仍然難以解決，因此T-S模糊模型的方法被引入來簡化設計過程中則是利用多組線性系統經由內插法逼近一個非線性系統。透過提出的T-S模糊控制方法，隨機多無人機網路系統的Hꝏ強健團隊追踪控制設計可以轉化為線性矩陣不等式（LMI）約束優化問題可以使用凸優化技術非常有效地解決。最後，一個模擬的例子是用於說明並驗證所提出的Hꝏ強健團隊追踪控制方法可以使這個多無人機網路系統有效的達到所需的姿態和路徑追蹤。

Recently, multi-UAV (unmanned aerial vehicle) system has attracted much attention due to its vast applications. However, the team tracking of multi-UAV networked system with desired attitude and path is still a complex control problem. Moreover, it may suffer from not only external disturbances but also intrinsic continuous Wiener and discontinuous Poisson random fluctuations. In this study, a leader-follower task control is proposed to deal with the stochastic robust multi-UAV networked team tracking control problem to guarantee for the 1 robust tracking performance. At first, multi-UAV networked dynamic models are augmented into an augmented system and the leader-follower reference tracking of augmented system could be represented by a shifted networked tracking error dynamic system by arranging the UAVs in a leader-follower formation in the reference tracking process. Therefore, the robust team tracking control design of the multi-UAV system is transformed to an Hamilton-Jacobin inequality (HJI)-constrained optimization problem. However, the HJI-constrained optimization problem is still hard to be solved for designing the robust team tracking controller, so T-S fuzzy identification method is employed to approximate the nonlinear networked system by interpolating a set of local linearized networked systems to simplify the design procedure. By the proposed T-S fuzzy control method, the 1 robust leader-follower tracking control design of stochastic multi-UAV networked system can be transformed to a linear matrix inequality (LMI)-constrained optimization problem which can be solved very efficiently using the convex optimization techniques. Finally, a simulation example is given to illustrate the design procedure of the robust team tracking control of desired attitude and path and validate the effectiveness of the proposed robust 1 team tracking control method of multi-UAV networked system.

摘要---------------------------------------------------------------i
Abstract----------------------------------------------------------ii
致謝-------------------------------------------------------------iii
Content-----------------------------------------------------------iv
I. INTRODUCTION------------------------------------------------- 1
II. PRILIMINARIES AND QUADROTOR UAV SYSTEM----------------------- 4
III. PROBLEM FORMULATION------------------------------------------ 6
IV. ROBUST Hꝏ TEAM TRACKING CONTROL DESIGN OF STOCHASTIC
MULTI-UAV NETWORKED SYSTEM VIA T-S FUZZY MODEL-------------- 12
V. ROBUST Hꝏ FUZZY TEAM TRACKING CONTROL DESIGN OF
MULTI-UAV NETWORKED SYSTEM---------------------------------- 15
VI. SIMULATION RESULT------------------------------------------- 17
VII. CONCLUSION-------------------------------------------------- 22
VIII.APPENDIX---------------------------------------------------- 23
REFERENCES------------------------------------------------------- 27

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