Cooperative-Antagonistic UAV Control: Predefined-Time Consensus With Reduced Communication Overhead

초록

This article investigates the predefined-time composite adaptive fuzzy bipartite consensus control problem of multiple six-rotor uncrewed aerial vehicle systems (UAVs). The command filter is integrated into the backstepping design process to overcome the "complexity explosion" and singularity problems, while the predefined-time error compensation signals are developed to remove the influence of filtering error on the system. Fuzzy logic systems are applied to deal with unknown nonlinearity and unmodeled parts existing in the UAVs' dynamics, with a serial-parallel estimation model being constructed to enhance approximation accuracy. The composite fuzzy adaptive laws are derived, embedding the prediction error of the model to ensure that the prediction error exhibits predefined-time convergence. To implement both cooperative and competitive interactions, a predefined-time adaptive bipartite consensus control scheme is proposed for multi-UAVs based on a signed graph. Furthermore, an auxiliary dynamic variable is introduced for the design of a dynamic event-triggered mechanism, thereby reducing communication resource consumption. The proposed control scheme guarantees convergence of bipartite consensus errors to a small neighborhood around the origin in a predefined time, and explicitly excludes Zeno behavior. A simulation example demonstrates the effectiveness of the developed control algorithm.

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