Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles: Theories and Applications

被引：4
|
作者：
Li, Qing [1 ]
Hua, Yongzhao [2 ]
Dong, Xiwang [2 ]
Ren, Zhang [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
[2] Beihang Univ, Inst Artificial Intelligence, Beijing 100191, Peoples R China
来源：
IFAC PAPERSONLINE | 2022年 / 55卷 / 03期
关键词：
Formation tracking control; swarm system; time-varying formation; unmanned aerial vehicle(UAV); MULTIAGENT SYSTEMS;
D O I：
10.1016/j.ifacol.2022.05.009
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Time-varying formation tracking (TVFT) problems for unmanned aerial vehicles (UAVs) swarm systems with the leader's unknown input are studied. The follower UAVs form an expected formation while tracking the leader UAV. According to the information of the neighboring UAVs, a TVFT control protocol is constructed. It's proved by Lyapunov stability theory that the error of each follower UAV converge to a specified boundary, which means that the swarm system of UAVs can realize the practical TVFT. A platform consisting of five Tello quadrotors and ultrawideband (UWB) positioning technology is given. The effectiveness of the TVFT control protocol is verified on numerical simulation and Tello-UWB experiment platform. Copyright (C) 2022 The Authors.
引用
收藏
页码：49 / 54
页数：6
相关论文
共 50 条
  • [41] Time-Varying Distance following for unmanned vehicles based on Sliding Mode Control
    Yang, Dakai
    Hu, Yongchao
    Li, Runmei
    Wang, Jian
    Cai, Bai-gen
    2021 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC), 2021, : 3996 - 4001
  • [42] Robust Leaderless Time-Varying Formation Control for Nonlinear Unmanned Aerial Vehicle Swarm System With Communication Delays
    Kang, Yuhang
    Luo, Delin
    Xin, Bin
    Cheng, Jun
    Yang, Tangwen
    Zhou, Shaolei
    IEEE TRANSACTIONS ON CYBERNETICS, 2023, 53 (09) : 5692 - 5705
  • [43] Prescribed time formation synchronous tracking of unmanned aerial vehicles with denial of service attacks
    Xiong, Shi-Xun
    Xie, Xiang-Peng
    Jiang, Guo-Ping
    Chen, Meng-ting
    APPLIED MATHEMATICS AND COMPUTATION, 2024, 474
  • [44] Design of Tracking Control Laws and Information Architecture for Cooperative Formation of Unmanned Aerial Vehicles
    Zhang J.
    Yan J.
    Xiao B.
    Lü M.
    Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University, 2019, 53 (06): : 134 - 141
  • [45] Robust cooperative tracking control for close formation of fixed⁃wing unmanned aerial vehicles
    Zhang Q.
    Liu Y.
    Sun H.
    Zhu B.
    Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica, 2024, 45 (01):
  • [46] Time-Critical Cooperative Path Following of Multiple Unmanned Aerial Vehicles over Time-Varying Networks
    Xargay, E.
    Kaminer, I.
    Pascoal, A.
    Hovakimyan, N.
    Dobrokhodov, V.
    Cichella, V.
    Aguiar, A. P.
    Ghabcheloo, R.
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2013, 36 (02) : 499 - 516
  • [47] Formation Tracking Control for Multiple Unmanned Underwater Vehicles with Time Delays
    Yan, Zheping
    Liu, Xiangling
    Zhou, Jiajia
    Jiang, Anzuo
    2018 OCEANS - MTS/IEEE KOBE TECHNO-OCEANS (OTO), 2018,
  • [48] Time-varying formation H∞ control for air unmanned swarm system
    Kang Y.
    Dai H.
    Qi Y.
    Zhang B.
    Liu X.
    Cheng J.
    Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2021, 47 (02): : 271 - 280
  • [49] Finite-time robust formation control of multiple aerial robotic vehicles with uncertainties and time-varying complex perturbations
    Li, Lebao
    Gao, Jinfeng
    Liu, Peter Xiaoping
    COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION, 2024, 129
  • [50] Time-Optimal Control for Formation Reconfiguration of Multiple Unmanned Aerial Vehicles
    Zhang Hongmei
    Zhao Guoli
    Xu Guangyan
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 5630 - 5635
12345