1 Introduction
1.1 Research Significance
1.2 Research Overview
1.2.1 Research Status on Cooperative Control Methodr/> 1.2.2 Research Status on UAV Cluster Projectr/> 1.3 Outline
Referencer/> 2 Background and Preliminarier/> 2.1 Preliminarier/> 2.1.1 Notation and Definitionr/> 2.1 . 2 Useful Lemmar/> 2.1.3 Filippov Solution and Non-Smooth Analysir/> 2.2 Graph Theory
2.3 System Models of VTOL UAVr/> 2.3.1 Attitude Representation
2.3.2 Kinematics and Dynamics of VTOL UAVr/> 2.4 Conclusionr/> Referencer/> 3 Distributed Formation Control for Clustered VTOL UAVs Over a Switching Topology
3.1 Problem Statementr/> 3.1.1 System Model
3.1.2 Switching Topology Graph
3.1.3 Control Objective
3.2 Distributed Control Algorithm Development Over a Switching Topology
3.2.1 Problem Transformation
3.2.2 Command Force Synthesir/> 3.2.3 Applied Torque Synthesir/> 3.2.4 Stability Analysir/> 3.3 Simulationr/> 3.4 Conclusionr/> Referencer/> 4 Distributed Formation Control for Clustered VTOL UAVs Over a Distance-Based Topology
4.1 Problem Statementr/> 4.1.1 System Model
4.1.2 Distance-Based Network Topology
4.1.3 Control Objective
4.2 Distributed Control Algorithm With Connectivity Maintenance Mechanir/> 4.2.1 Problem Transformation
4.2.2 Command Force Synthesir/> 4.2.3 Applied Torque Synthesir/> 4.2.4 Stability Analysir/> 4.3 Simulationr/> 4.4 Conclusionr/> Referencer/> 5 Adaptive Distributed Formation Control for Clustered VTOL UAVs with Parametric Uncertaintier/> 5.1 Problem Statementr/> 5.1.1 System Model
5.1.2 Topology Graph
5.1.3 Control Objective
5.2 Adaptive Distributed Control Algorithm
5.2.1 Problem Transformation
5.2.2 Command Force Synthesir/> 5.2.3 Applied Torque Synthesir/> 5.2.4 Stability Analysir/> 5.3 Simulationr/> 5.4 Conclusionr/> Referencer/> 6 Adaptive Fault-Tolerant Distributed Formation Control for Clustered VTOL UAVr/> 6.1 Problem Statementr/> 6.1.1 System Model
6.1.2 Actuator Faultr/> 6.1.3 Topology Graph
6.1.4 Control Objective
6.2 Adaptive Fault-Tolerant Distributed Control Algorithm
6.2.1 Problem Transformation
6.2.2 Command Force Synthesir/> 6.2.3 Desired Torque Synthesir/> 6.2.4 Stability Analysir/> 6.3 Simulationr/> 6.4 Conclusionr/> Referencer/> 7 Distributed Formation Tra Control for Clustered VTOL UAVs Over Undirected Topology
7.1 Problem Statementr/> 7.1.1 System Model
7.1.2 Network Topology
7.1.3 Control Objective
7.2 Distributed Control Algorithm Development Over Undirected Topology
7.2.1 Command Force Synthesir/> 7.2.2 Command Attitude Extraction
7.2.3 Applied Torque Synthesir/> 7.2.4 Stability Analysir/> 7.3 Simulationr/> 7.4 Conclusionr/> Referencer/> 8 Distributed Formation Tra Control for Clustered VTOL UAVs Over Directed Topology
8.1 Background
8.1.1 Problem Statementr/> 8.1.2 Network Topology
8.2 Distributed Control Algorithm Development Over Directed Topology
8.2.1 Distributed Estimator Design
8.2.2 Problem Transformation
8.2.3 Command Force Synthesir/> 8.2.4 Applied Torque Synthesir/> 8.2.5 Stability Analysir/> 8.3 Simulationr/> 8.4 Conclusionr/> Referencer/> 9 Distributed Output-Feedback Formation Tra Control for Clustered VTOL UAVr/> 9.1 Problem Statementr/> 9.1.1 System Model
9.1.2 Network Topology
9.1.3 Control Objective
9.2 Distributed Output-Feedback Control Algorithm Development
9.2.1 Command Force Synthesir/> 9.2.2 Command Attitude Extraction
9.2.3 Applied Torque Synthesir/> 9.2.4 Stability Analysir/> 9.3 Simulation
9.4 Conclusionr/> Referencer/>
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