1st Edition

Robust H∞ Team Formation Tracking Design Methods of Large-Scale UAV Networked Control Systems

By Bor-Sen Chen Copyright 2025
    256 Pages 90 B/W Illustrations
    by CRC Press

    system under intrinsic random fluctuation, time-varying delay and packet dropout in wireless communication, and external disturbance. A simple robust decentralized H∞ PID reference tracking network control strategy is introduced for practical applications of team formation of large-scale UAV under control saturation constraint, external disturbance and vortex coupling. It provides practical design procedures based on linear matrix inequalities (LMIs) solvable via LMI TOOLBOX in MATLAB®.


    • Focusses on the stabilization of a QUAV under finite time switching model control (SMC)
    • Discusses robustness control design for formation tracking in UAV networks         
    • Introduces different robust centralized and decentralized H∞ attack-tolerant observer-based reference team formation tracking control of large-scale UAVs
    • Reviews practical case studies in each chapter to introduce the design procedures
    • Includes design examples of team formation of 25 quadrotor UAVs and a team formation example of 5 hybrid quadrotor/biped robot sub-teams


    This book is aimed at researchers and graduate students in control and electrical engineering.



    Chapter 1    An Introduction to Large-Scale Quadrotor UAV Networked Control System

    Chapter 2    Robust Team Formation Tracking Control of Stochastic Multi-Quadrotor UAV Networked Control System

    Chapter 3    Stochastic Robust H∞ Team Formation Tracking Design of Multi-VTOL-UAV Networked Control System under Time-Varying Delay and Random Fluctuation in Smart City

    Chapter 4    Decentralized H∞ PID Team Formation Tracking Control of Large-Scale Quadrotor UAVs under External Disturbance and Vortex Coupling

    Chapter 5    Stochastic Decentralized H∞ Tracking Control of Large-Scale Team Formation UAV Networked Control System with Time-Varying Delay and Packet Dropout Under Interconnected Coupling and Wiener Fluctuation

    Chapter 6    DNN-Based H∞ Decentralized Attack-Tolerant Team Formation Tracking Design of Large-Scale UAV Networked Control System Under Time-Varying Delay and Interconnected Coupling

    Chapter 7     Integrating Local Motion Planning and Robust Decentralized Fault-Tolerant Tracking Control for Search and Rescue Task of Hybrid UAVs and Biped Robots Team System



    Bor-Sen Chen received B.S. degree in electrical engineering from Tatung Institute of Technology, Taipei, Taiwan, in 1970, and M.S. degree of geophysics from the National Central University, Chungli, Taiwan in 1973, and Ph.D degree from University of Southern California, Los Angeles, CA, USA, in 1982. From 1973 to 1987, he had been a lecturer, associate professor, and professor of Tatung Institute of Technology. From 1987, he has been a professor, chair professor and Tsing Hua distinguished chair professor with the Department of Electrical Engineering of National Tsing Hua University, Hsinchu, Taiwan. His research interests include robust control theory and engineering design, robust signal processing and communication system design,  systems biology and their applications.