Finite-time distributed formation tracking control of multi-UAVs with a time-varying reference trajectory

Author:

Zhao Wei1,Li Renfu12,Zhang Huaipin3

Affiliation:

1. Department of Aerospace Engineering,School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

2. Digital Manufacturing Equipment and Technology National Key Laboratory, Huazhong University of Science and Technology, Wuhan, China

3. School of Automation, Huazhong University of Science and Technology, Wuhan, 430074, China

Abstract

Abstract This article studies finite-time distributed formation tracking control of a second-order multi-unmanned aerial vehicle (UAV) system. To reduce the burden of the system’s computation and communication, a distributed framework is designed in the control of the formation configuration, in which a time-varying reference trajectory is known by the following UAVs as exogenous input that decides the UAVs moving target. Then, time-triggered and event-triggered consensus control protocols are proposed and theoretically proved to achieve the formation flight in finite time. Finally, a numerical simulation is conducted for the formation tracking control of a typical multi-UAV system to validate the effectiveness of the proposed control protocols.

Funder

Ministry of Science and Technology

Aeronautical Science Foundation of China

Huazhong University of Science and Technology

Publisher

Oxford University Press (OUP)

Subject

Applied Mathematics,Control and Optimization,Control and Systems Engineering

Reference49 articles.

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