Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles with the Leader’s Unknown Input and Obstacle Avoidance: Theories and Applications

Qing Li; Yongzhao Hua; Xiwang Dong; Jianglong Yu; Zhang Ren

doi:10.3390/electronics11152334

Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles with the Leader’s Unknown Input and Obstacle Avoidance: Theories and Applications

Qing Li
, Yongzhao Hua^*
, Xiwang Dong
, Jianglong Yu
, Zhang Ren

^*Corresponding author for this work

Beihang University

Research output: Contribution to journal › Article › peer-review

8 Scopus citations

Abstract

This paper investigates the time-varying formation tracking (TVFT) problems for unmanned aerial vehicle (UAV) swarm systems with the leader’s unknown input and collision and obstacle avoidance mechanism. To solve the TVFT control problem which has not been studied extensively, distributed observers are proposed to estimate the leader’s position and a TVFT control protocol is constructed. Stability of control protocol is proved by Lyapunov stability theory. Furthermore, the effectiveness of the TVFT control protocol is verified by numerical simulations and flying experiments, which is more convincing than the theoretical results only.

Original language	English
Article number	2334
Journal	Electronics (Switzerland)
Volume	11
Issue number	15
DOIs	https://doi.org/10.3390/electronics11152334
State	Published - Aug 2022

Keywords

collision avoidance
formation flying
formation tracking control
time-varying formation
unmanned aerial vehicle (UAV)

Access to Document

10.3390/electronics11152334

Cite this

@article{6c75162bfb38413ea7daac97ea586a84,

title = "Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles with the Leader{\textquoteright}s Unknown Input and Obstacle Avoidance: Theories and Applications",

abstract = "This paper investigates the time-varying formation tracking (TVFT) problems for unmanned aerial vehicle (UAV) swarm systems with the leader{\textquoteright}s unknown input and collision and obstacle avoidance mechanism. To solve the TVFT control problem which has not been studied extensively, distributed observers are proposed to estimate the leader{\textquoteright}s position and a TVFT control protocol is constructed. Stability of control protocol is proved by Lyapunov stability theory. Furthermore, the effectiveness of the TVFT control protocol is verified by numerical simulations and flying experiments, which is more convincing than the theoretical results only.",

keywords = "collision avoidance, formation flying, formation tracking control, time-varying formation, unmanned aerial vehicle (UAV)",

author = "Qing Li and Yongzhao Hua and Xiwang Dong and Jianglong Yu and Zhang Ren",

note = "Publisher Copyright: {\textcopyright} 2022 by the authors.",

year = "2022",

month = aug,

doi = "10.3390/electronics11152334",

language = "英语",

volume = "11",

journal = "Electronics (Switzerland)",

issn = "2079-9292",

publisher = "Multidisciplinary Digital Publishing Institute (MDPI)",

number = "15",

}

TY - JOUR

T1 - Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles with the Leader’s Unknown Input and Obstacle Avoidance

T2 - Theories and Applications

AU - Li, Qing

AU - Hua, Yongzhao

AU - Dong, Xiwang

AU - Yu, Jianglong

AU - Ren, Zhang

PY - 2022/8

Y1 - 2022/8

N2 - This paper investigates the time-varying formation tracking (TVFT) problems for unmanned aerial vehicle (UAV) swarm systems with the leader’s unknown input and collision and obstacle avoidance mechanism. To solve the TVFT control problem which has not been studied extensively, distributed observers are proposed to estimate the leader’s position and a TVFT control protocol is constructed. Stability of control protocol is proved by Lyapunov stability theory. Furthermore, the effectiveness of the TVFT control protocol is verified by numerical simulations and flying experiments, which is more convincing than the theoretical results only.

AB - This paper investigates the time-varying formation tracking (TVFT) problems for unmanned aerial vehicle (UAV) swarm systems with the leader’s unknown input and collision and obstacle avoidance mechanism. To solve the TVFT control problem which has not been studied extensively, distributed observers are proposed to estimate the leader’s position and a TVFT control protocol is constructed. Stability of control protocol is proved by Lyapunov stability theory. Furthermore, the effectiveness of the TVFT control protocol is verified by numerical simulations and flying experiments, which is more convincing than the theoretical results only.

KW - collision avoidance

KW - formation flying

KW - formation tracking control

KW - time-varying formation

KW - unmanned aerial vehicle (UAV)

UR - https://www.scopus.com/pages/publications/85136810080

U2 - 10.3390/electronics11152334

DO - 10.3390/electronics11152334

M3 - 文章

AN - SCOPUS:85136810080

SN - 2079-9292

VL - 11

JO - Electronics (Switzerland)

JF - Electronics (Switzerland)

IS - 15

M1 - 2334

ER -

Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles with the Leader’s Unknown Input and Obstacle Avoidance: Theories and Applications

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this