Formation Control of Unmanned Aircraft System for Pervious Concrete Pavements Maintenance: A Diffusion Equation Approach

本文研究一类透水混凝土道路养护中无人机系统的编队控制问题。基于扩散方程提出一种大规模无人机动态建模为连续体的新框架，其通信拓扑是一个链式结构。针对具有边界扰动的无人机系统，借助边界控制技术，设计了领导者反馈控制律，使无人机系统能够稳定地完成目标编队，执行透水混凝土道路养护任务。利用Lyapunov泛函方法和边界控制策略，我们可以得到无人机误差动态系统达到目标编队最终一致有界的充分条件。同时，讨论无扰动情况下无人机系统的编队问题以及无领导者控制策略情况下无人机系统的群集行为。数值仿真表明了本文所提方法的有效性，无人机群能够在动态环境中快速完成编队并高效完成透水混凝土道路的养护工作。This paper studies the issue of formation control for a class of unmanned aircraft system (UAS) used for pervious concrete pavements maintenance. A new framework for large-scale UAS modeled as a continuum is proposed based on the diffusion equation, and its communication topology is a chain structure. For the UAS with boundary perturbation, a leader feedback control law is designed by using the boundary control technique to enable the UAS to stabilize the target formation and perform the pervious concrete pavements maintenance mission. By utilizing the Lyapunov direct method and the boundary control strategy, a sufficient condition is obtained for the unmanned aerial vehicle error dynamic system to reach the target formation uniformly ultimately bounded. Also, the formation issue of UAS without perturbation and the flocking behavior of UAS without leader control strategy are discussed. Numerical simulations demonstrate the effectiveness of the method proposed in this paper. The UAS can be deployed in dynamic environments to achieve formation rapidly and perform pervious concrete pavements maintenance efficiently.