Author:
Cai Xin,Zhu Xiaozhou,Yao Wen
Abstract
AbstractConsidering the limited communication resources and slow convergence speed of multi-unmanned aerial vehicle (UAV) systems, this paper presents a finite-time even-triggered control framework for multi-UAV systems to achieve formation-containment tracking control. First, a virtual leader with time-varying output is introduced so that the trajectory of the whole system can be manipulated in real time. Second, the finite-time control enables that the systematic error converge to a small neighborhood of origin in finite time. Third, in order to save communication resources, an event-triggering function is developed to generate the control event sequences, which avoids continuous update of the controller. Rigorous proof shows the finite-time stability of the proposed control algorithm, and Zeno behavior is strictly excluded for each UAV. Finally, some numerical simulations are given to verify the effectiveness of the proposed controllers.
Funder
National Natural Science Foundation of China
Publisher
Springer Science and Business Media LLC
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