Adaptive distributed finite-time formation control for multi-UAVs under input saturation without collisions

Bojian Liu; Aijun Li; Yong Guo; Changqing Wang

doi:10.1016/j.ast.2021.107252

Adaptive distributed finite-time formation control for multi-UAVs under input saturation without collisions

Bojian Liu, Aijun Li, Yong Guo, Changqing Wang

School of Automation

Northwestern Polytechnical University Xian

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

31 Scopus citations

Abstract

This paper devotes to addressing the adaptive distributed finite-time formation control problem for multi-UAVs with collision avoidance and input saturation. By combining the formation reconstruction algorithm designed in this paper, the novel adaptive finite-time control law that utilizes the nonlinear mapping technology and prescribed performance control can limit the UAVs in the specified region to avoid collisions between each other. Moreover, an improved auxiliary dynamic system governed by hyperbolic functions is constructed to address the input saturation problem, while promoting to achieve the finite-time convergence of tracking errors. Finally, the convergence of the error systems and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.

Original language	English
Article number	107252
Journal	Aerospace Science and Technology
Volume	120
DOIs	https://doi.org/10.1016/j.ast.2021.107252
State	Published - Jan 2022

Keywords

Backstepping control
Collision avoidance
Finite-time control
Input saturation
Multi-UAVs

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10.1016/j.ast.2021.107252

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title = "Adaptive distributed finite-time formation control for multi-UAVs under input saturation without collisions",

abstract = "This paper devotes to addressing the adaptive distributed finite-time formation control problem for multi-UAVs with collision avoidance and input saturation. By combining the formation reconstruction algorithm designed in this paper, the novel adaptive finite-time control law that utilizes the nonlinear mapping technology and prescribed performance control can limit the UAVs in the specified region to avoid collisions between each other. Moreover, an improved auxiliary dynamic system governed by hyperbolic functions is constructed to address the input saturation problem, while promoting to achieve the finite-time convergence of tracking errors. Finally, the convergence of the error systems and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.",

keywords = "Backstepping control, Collision avoidance, Finite-time control, Input saturation, Multi-UAVs",

author = "Bojian Liu and Aijun Li and Yong Guo and Changqing Wang",

note = "Publisher Copyright: {\textcopyright} 2021 Elsevier Masson SAS",

year = "2022",

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doi = "10.1016/j.ast.2021.107252",

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T1 - Adaptive distributed finite-time formation control for multi-UAVs under input saturation without collisions

AU - Liu, Bojian

AU - Li, Aijun

AU - Guo, Yong

AU - Wang, Changqing

PY - 2022/1

Y1 - 2022/1

N2 - This paper devotes to addressing the adaptive distributed finite-time formation control problem for multi-UAVs with collision avoidance and input saturation. By combining the formation reconstruction algorithm designed in this paper, the novel adaptive finite-time control law that utilizes the nonlinear mapping technology and prescribed performance control can limit the UAVs in the specified region to avoid collisions between each other. Moreover, an improved auxiliary dynamic system governed by hyperbolic functions is constructed to address the input saturation problem, while promoting to achieve the finite-time convergence of tracking errors. Finally, the convergence of the error systems and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.

AB - This paper devotes to addressing the adaptive distributed finite-time formation control problem for multi-UAVs with collision avoidance and input saturation. By combining the formation reconstruction algorithm designed in this paper, the novel adaptive finite-time control law that utilizes the nonlinear mapping technology and prescribed performance control can limit the UAVs in the specified region to avoid collisions between each other. Moreover, an improved auxiliary dynamic system governed by hyperbolic functions is constructed to address the input saturation problem, while promoting to achieve the finite-time convergence of tracking errors. Finally, the convergence of the error systems and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.

KW - Backstepping control

KW - Collision avoidance

KW - Finite-time control

KW - Input saturation

KW - Multi-UAVs

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DO - 10.1016/j.ast.2021.107252

M3 - 文章

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SN - 1270-9638

VL - 120

JO - Aerospace Science and Technology

JF - Aerospace Science and Technology

M1 - 107252

ER -

Adaptive distributed finite-time formation control for multi-UAVs under input saturation without collisions

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Keywords

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