這項研究提出了一種強健的分散式追蹤控制方案，用於大型無人機（UAV）編隊網絡控制系統（NCS），以克服由於集中式控制的高計算複雜度而導致不可擴展甚至不可行的設計問題。大型無人機團隊編隊NCS中考慮了風的外部擾動，內在波動以及與其他無人機子系統的耦合。在網絡配置下，設計過程中還考慮了網路引起的時變延遲和封包遺失。此外，本研究還嵌入了事件觸發機制以減少傳輸的控制信號數量，用以節省網路流量，特別是對於大規模團隊編隊 NCS。為了有效減少上述非理想影響，針對大規模無人機NCS，提出了一種強健的H_∞分散式追蹤控制器。大規模無人機編隊NCS由虛擬領導者-跟隨者追蹤網絡無人機子系統所構建。每個無人機子系統的強健分散式團隊編隊追蹤控制設計問題被轉換為每個無人機獨立的Hamilton-Jacobin不等式（HJI）約束的優化問題。通過Takagi-Sugeno（TS）模糊插值方法，可以將大規模無人機編隊NCS的H_∞強健虛擬領導者-跟隨者分散式追蹤控制設計問題轉化為每個無人機的獨立線性不等式（LMI）約束的優化問題，可以通過使用凸優化技術來有效解決。由25架無人機組成的大規模無人機團隊編隊被展示，以驗證所提出針對大型無人機小組NCS的魯棒分散式跟踪控制器的有效性。

A robust decentralized tracking control scheme for a large-scale unmanned aerial vehicle (UAV) formation team networked control system (NCS) is proposed in this study to overcome a non-scalable or even infeasible design problem due to high computational complexity by centralized control. The wind external disturbance, intrinsic fluctuation, and coupling from other UAV subsystems are considered in the large-scale UAV team formation NCS. Under the network configuration, the time-varying network-induced delay and packet dropout are also taken into account in the design procedure. Also, an event-triggered mechanism is embedded to reduce the number of transmitted control signals to save the network traffic especially for a large-scale team formation network in this study. To effectively reduce the above non-ideal effects, a robust H_∞ decentralized tracking controller is proposed for the large-scale UAV network control system. The large-scale UAV team formation NCS is constructed by virtual leader-follower tracking network UAV subsystems. The robust decentralized team formation tracking control design problem of each UAV subsystem is transformed to an independent Hamilton-Jacobin inequality (HJI)-constrained optimization problem for each UAV. By the Takagi-Sugeno (T-S) fuzzy interpolation method, the H_∞ robust virtual leader-follower decentralized tracking control design problem of the large-scale UAV team formation NCS can be transformed to an independent linear inequality (LMI)-constrained optimization problem for each UAV, which can be efficiently solved by using convex optimization techniques. A large-scale UAV team formation of 25 UAVs is shown to validate the effectiveness of the proposed robust decentralized tracking controller of large-scale UAV team formation NCS.

Contents
摘要 ii
Abstract iii

I. Introduction 1
II. Preliminary of a Large-Scale Quadrotor UAV System and Network Configuration 4
A. Quadrotor UAV Dynamic Model 4
B. A Large-Scale UAV Networked Control System with a Discrete Event-Triggered Mechanism 6
C. Discrete Event-Triggered mechanism in the Large-Scale UAV NCS with Time-Varying Network-Induced Delay and Packet Dropout 7
III. Problem Formulation 9
A. Team Formation Tracking of Large-scale UAVs by Virtual Leader-Follower structure 10
IV. T-S Fuzzy Model for Stochastic Large-Scale UAV NCS with the Event-Triggered Mechanism under Time-Varying Network-Induced Delay and Packet Dropout 12
V. Decentralized Fuzzy Reference Tracking Control Design in Large-Scale UAV NCS via Event-Triggered Mechanism under Time-Varying Delay and Packet Dropout by the LMI-Constrained Optimization Method 14
VI. Design Example 16
A. Large-Scale UAV Team Formation Model Setting 16
B. Event-Triggered Performance 19
C. Time-Varying Network-Induced Delays 20
D. Packet Dropouts 20
VII. Conclusion 20
Appendix A 21
Appendix B 22
Appendix C 25
Reference 29

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