Constraint following control for unmanned combat platforms based on robot formation systems

Abstract

With advances in robotics and communications engineering, robots are replacing humans in a variety of jobs. In military applications, the control problem of the robot formation, a major part of unmanned combat platforms, has also become a focus of research. This paper proposes constrained following control to solve the problem of collision avoidance, following and reaching in robot formation systems. First, the state space equations of robot formations are established based on the U-K theory. Second, the collision avoidance following constraint of the system is transformed into an approximate following constraint, and the constrained following error is established. The arrival constraint is added to provide the destination of the formation. Third, the adaptive robust controller is proposed to solve the potential complex uncertainty interference of systems. Uniformly bounded and uniformly ultimately bounded of the constraint following error are guaranteed. Finally, the effectiveness of the controller is verified by simulation experiments.