在5G時代及6G時代，未來智慧城市通信服務藉由大規模編隊衛星是當前一個重要的研究課題。在這篇研究中，一個強健性的 H∞去中心化網絡編隊包含具有事件觸發機制的跟踪控制策略被提出，並且是用於大規模衛星編隊在通信任務上。首先，隊伍中的每台衛星會以非線性隨機系統來描述，其中包含了內在隨機波動、外部干擾和來自其他衛星的耦合效應。所提出對於每一台衛星的編隊追蹤控制方法必須考慮網路引起的延遲及封包遺失並且同時以事件激發機制的方法來節省通訊資源。
此外，對於編隊衛星的理想編隊形狀可以由一組參考模型建立，其中嵌入了所需的編隊形狀參考輸入。因此，大規模的編隊衛星設計問題可以簡化為一組獨立的H∞對於每顆衛星的模型網路追踪控制設計問題，並以有效率地衰減最壞的狀況下的外部干擾、其他衛星耦合效應、內部隨機波動、網絡引起的延遲和丟包
關於模型參考追蹤性能上。為了避免求解非線性偏微分Hamillion-Jacobin不等式（HJI）對於H∞分散式網絡編隊衛星追蹤控制問題，T-S模糊模型採用內插數個局部線性化系統來近似隨機非線性衛星系統。因此，HJI限制問題可以被轉換為一組線性矩陣不等式 (LMI)，並且可以通過 LMI TOOLBOX 在MATLAB來求解。最後，由十台衛星和一個比較的模擬實例在對於三台衛星的編隊例子以來說明程序及驗證所提出的方法並與其他方法進行比較。

The team formation of large-scale satellites for communication services of future smart cities in the 5G and 6G era is an important research topic currently. In this study, a robust H∞ decentralized network team formation tracking control strategy with an event-triggered mechanism is proposed for the formation of large-scale satellites for communication tasks. At first, a satellite in the team formation is described by a nonlinear stochastic system with intrinsic random fluctuation, external disturbance, and coupling from other satellites. The proposed team formation tracking control for each satellite needs to consider the effect of network-induced delay and packet-dropout as well as save communication resources via an event-triggered mechanism. Further, the desired team formation of the large-scale satellite can be prescribed by a set of reference models with a desired formation shape embedded in their reference inputs. Therefore, the large-scale team formation design problem can be simplified as an independent H∞ network model reference tracking control design problem for each satellite to efficiently attenuate the worst-effect of external disturbance, coupling of other satellites, intrinsic random fluctuation, network-induced delay and packet-dropout on the model reference tracking performance. In order to avoid solving a nonlinear partial differential
Hamillion-Jacobin inequality(HJI) for the H∞ decentralized network formation control for each satellite in the team formation, the T-S fuzzy model is employed to interpolate several local linearized systems to approximate nonlinear satellite systems. Then the HJI in the H∞ decentralized network team formation design problem can be transformed into a set of linear matrix inequalities (LMIs) which can be easily solved by LMI TOOLBOX in MATLAB. Finally, a simulation example of team formation composed of ten satellites and a comparative team formation example of three satellites are given to illustrate the design procedure and to validate the proposed method in comparison with other methods.

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