近年來，垂直起降無人機受到愈來愈多的關注由於它的高機動性不論在軍事還是民用的領域。然而，針對一群無人機的去達到位置和姿態追蹤控制的編隊任務的研究還是相當的少。此外，由於網路控制系統中有限的頻寬以及編隊任務中無人機的數量漸增，能源浪費和資源節省的議題也愈來愈受到重視。再者，無人機在真實智能城市中會受到內部連續Wiener隨機擾動、不連續Poisson隨機擾動，以及來自無線網路的外部干擾和時變延遲。因此一個強健H∞事件觸發virtual structure編隊追蹤控制被提出來解決隨機多垂直起降無人機團隊追蹤控制問題。藉由所提出的事件觸發架構，H∞團隊追蹤性能可以被達到且通訊頻寬的負擔得以減輕。在本篇研究中，事件觸發多無人機動態模型可以被增廣成一個增廣系統並被表示為一個shifted tracking dynamic system。因此H∞事件觸發團隊追蹤問題可以被轉化為Hamilton-Jacobin inequality(HJI)限制下的最佳化問題。然而這是非常難去數值分析的，因此T-S模糊的方法被用來有效的近似非線性多無人機系統藉由一群線性化系統來簡化設計的流程。因此，針對H∞強健事件觸發團隊追蹤控制的HJI限制下最佳化問題可以被轉化為線性矩陣不等式(LMI)限制下最佳化問題並可以用凸優化技巧很容易的解決。最後，給出一個模擬例子用於證明所提出針對多垂直起降無人機系統的強健事件H∞編隊追蹤控制的有效性。

Vertical Take-off and Landing (VTOL) UAV has given rise to interests nowadays due to its high maneuverability no matter in military or civilian field. However, there are still few researches about the formation flight control of a team of UAVs to achieve the desired attitude and position tracking for a formation task. Besides, the energy-waste and resource-saving issues have attracted the growing attention because of the limited networked bandwidth in the networked control system and the increasing number of the UAVs in the formation tasks. Moreover, UAVs will suffer from the intrinsic continuous Wiener, discontinuous Poisson random fluctuation, external disturbances and time-varying delays of wireless network in the real environment of smart city. As the result, a robust H∞ event-triggered virtual structure formation team tracking control is proposed to deal with the stochastic multi-VTOL-UAV team tracking control problem. By the proposed event-triggered control, the H∞ team tracking performance can be achieved and the load of communication bandwidth can be released at the same time. In this study, the event-triggered multi-UAV dynamic models are augmented into an augmented system and the model of event-triggered multi-UAV team tracking formation can be represented by a shifted tracking dynamic system. Therefore, the robust H∞ event-triggered team tracking problem can be transformed to a Hamilton-Jacobin inequality(HJI)-constraint optimization problem. However, it is still difficult to be solved analytically and numerically, so T-S fuzzy techniques are adopted to efficiently approximate the nonlinear multi-UAV system by a set of local linearized networked systems to simplify the design procedure. Thus, the HJI-constraint optimization problem for the H∞ event-triggered robust formation team tracking control can be transformed to the 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∞ formation tracking control for the multiple VTOL-UAV system.

摘要------------------------------------------------------i
Abstract-------------------------------------------------ii
致謝-----------------------------------------------------iii
Contents-------------------------------------------------iv
I. INTRODUCTION------------------------------------------ 1
II. SYSTEM DESCRIPTION AND PRILIMINARIES----------------- 4
III. PROBLEM FORMULATION--------------------------------- 8
IV. ROBUST H∞ TEAM TRACKING CONTROL DESIGN OF STOCHASTIC EVENT-TRIGGERED MULTI-UAV NETWORKED CONTROL SYSTEM VIA T-S FUZZY MODEL------------------------------------------------------------ 14
V. H∞ FUZZY EVENT-TRIGGERED TEAM TRACKING CONTROL DESIGN OF STOCHASTIC MULTI-UAV NETWORKED SYSTEM WITH TIME-VARYING DELAY--------------------------------------------------------------- 16
VI. SIMULATION RESULT----------------------------------- 18
VII. CONCLUSION----------------------------------------- 22
VIII. APPENDIX------------------------------------------ 22
References-------------------------------------------- 25

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