在本文中，設計了一個基於干擾觀測器的有限時間跟隨控制(Disturbance-Observer-Based Finite Time Following Control)，用以快速完成對有輸入故障和飽和的多架無人機的指定追蹤。無人機的原始串聯PID控制被假設為一個內部控制迴路。相較之下，其外部迴圈被建模為一個具有未知干擾的二階系統，包括系統不確定性，陣風以及初始位置與速度誤差。領隊無人機被建模為第一個跟隨無人機所需的3D姿態。接著跟隨無人機將一個接一個地跟隨。為了在不確定的環境下完成任務，所提出的基於干擾觀測器的有限時間跟隨控制擁有非線性濾波跟隨誤差、非線性濾波增益、以及每架跟隨無人機中的觀測器對動態不確定因素的估計。不僅非線性濾波增益隨著非線性濾波跟隨誤差在零附近而增加，以實現其有限時間收斂，而且不確定性由干擾觀測器及時補償。最後，通過所提出的基於干擾觀測器的有限時間跟隨控制，實現從初始位置和速度誤差到指定線路編隊的模擬與實驗。

In this thesis, a disturbance-observer-based finite-time following control (DO-FTFC) is designed to quickly accomplish an assigned following of multiple UAVs with input fault and saturation. The low-level cascade PID following control (LLC-PID-FC) in each UAV is an inner control loop. In contrast, its outer loop is modeled as a second-order system with unknown disturbance, including wind gust, system uncertainties, and initial pose and velocity errors. The leader is modeled as the desired 3D pose for the leader to follow. Then the consequent followers are one-by-one to follow. To fulfill the task under the uncertain environment, the proposed DO-FTFC possesses coupled following error, nonlinear filtering gain, and the estimation of dynamic uncertainties by an observer in each UAV. Not only does the nonlinear filtering gain increase as the coupled following error is in the vicinity of zero to achieve its finite-time convergence, but also the uncertainties is online compensated by disturbance observer. Finally, the simulation and experiment in comparison to LLC-PID-FC from initial pose and velocity errors to an assigned line formation validate the superiority of the proposed approach.

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