描述,定义
- The dynamic model of HFVs under consideration was originally developed in [4], which can be described by
- An MSV referred to [6] can be generally represented as
- The tracking errors of flight state variables are defined as
- Define the measurement error as
- Design the following virtual control law:
- First, we will employ the following variable:
- Consider the following Lyapunov function:
- the time derivative of eV can be derived as
- Construct the switching control law Φ as
- For the ith agent, the fixed-time observer is constructed as
- Consider the following system as leader’s dynamics:
- it is possible to obtain
- Applying Lemma 6, the time derivative of Wj is
- The following finite-time differentiator is used to estimate the derivative of virtual control:
- The time derivative Var. is given as follows
-
- κpq satisfies the following set
- one has(得到)
式子结合
- Then, substituting these inequalities and (7) and (8) into (6) and using k3 = ̃k3 + ̄k3, we obtain(one has)
- By utilizing [3, Lemma] and Lemma 2, we have/ we obtain/one has
- Then, substituting these two inequalities and (18)–(20) into (17) yields
- Differentiating (11) along (10), we have
- Combine with (18), (19) and (20), the following is given
- Subsequently, taking into account (13) and (19)–(21), the derivative of V1 is specified as
- In the light of (27) and Lemma 2 in [13], we have
- Substituting (40) into (39) reaches
- Substituting (45) into (41), the time derivative of LV is
重写
- Then, the Eq. can be rewritten as
- Accordingly, the models (1) are transformed as
是肯定的
- In [13], the following is positive definite
解释式子中的变量含义
- where Eq. is expressed as
证明完成
- This completes the proof.
- This completes the proof of Theorem 2.
文章探讨了一种在参考[4]中最初提出的HFV动态模型。通过利用MSV表示和Lyapunov函数,设计了虚拟控制律和固定时间观测器。通过对系统动力学的分析,证明了控制策略的稳定性,并使用有限时间微分器估计虚拟控制的导数。最终,通过重写方程并应用已知引理,确立了系统的正定性质。

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