TY - GEN
T1 - Consensus-Based Aggregation Control and Formation Tracking Control for Fixed-Wing UAV Swarm System
AU - Hao, Ze
AU - Yu, Jianglong
AU - Chen, Yang
AU - Hu, Yangxiu
AU - Dong, Xiwang
AU - Ren, Zhang
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024
Y1 - 2024
N2 - This paper investigates the problem of aggregation control and robust formation tracking control for the fixed-wing UAV swarm system after aggregation. Firstly, the dynamic models for aggregation control and formation tracking control of the fixed-wing UAV swarm system are established. Secondly, to solve the problem of large initial takeoff position deviation for multiple unmanned aerial vehicles, a consensus-based aggregation control algorithm is designed to converge the UAV swarm system to any position on a hovering circle to provide proper initial conditions for subsequent tasks. Thirdly, in the formation tracking control process, a nonlinear path tracking control algorithm is employed for leader UAV, and a formation tracking control algorithm based on leader-following navigation is designed for follower UAV swarm system. Finally, simulation results demonstrate that the proposed aggregation control algorithm enables rapid convergence of the UAV swarm system’s initial positions, and the designed formation tracking control achieves algorithm achieves fine formation tracking performance.
AB - This paper investigates the problem of aggregation control and robust formation tracking control for the fixed-wing UAV swarm system after aggregation. Firstly, the dynamic models for aggregation control and formation tracking control of the fixed-wing UAV swarm system are established. Secondly, to solve the problem of large initial takeoff position deviation for multiple unmanned aerial vehicles, a consensus-based aggregation control algorithm is designed to converge the UAV swarm system to any position on a hovering circle to provide proper initial conditions for subsequent tasks. Thirdly, in the formation tracking control process, a nonlinear path tracking control algorithm is employed for leader UAV, and a formation tracking control algorithm based on leader-following navigation is designed for follower UAV swarm system. Finally, simulation results demonstrate that the proposed aggregation control algorithm enables rapid convergence of the UAV swarm system’s initial positions, and the designed formation tracking control achieves algorithm achieves fine formation tracking performance.
KW - consensus theory
KW - fixed-wing UAV swarm system
KW - formation tracking control
KW - UAV aggregation control
UR - https://www.scopus.com/pages/publications/85199370820
U2 - 10.1007/978-981-97-3328-6_57
DO - 10.1007/978-981-97-3328-6_57
M3 - 会议稿件
AN - SCOPUS:85199370820
SN - 9789819733279
T3 - Lecture Notes in Electrical Engineering
SP - 673
EP - 686
BT - Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Control Technologies
A2 - Wang, Qing
A2 - Dong, Xiwang
A2 - Song, Peng
PB - Springer Science and Business Media Deutschland GmbH
T2 - 7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023
Y2 - 24 November 2023 through 27 November 2023
ER -