TY - JOUR
T1 - Distributed Finite-Time ESO-Based Consensus Control for Multiple Fixed-Wing UAVs Subjected to External Disturbances
AU - Yu, Yang
AU - Chen, Jianlin
AU - Zheng, Zixuan
AU - Yuan, Jianping
N1 - Publisher Copyright:
© 2024 by the authors.
PY - 2024/6
Y1 - 2024/6
N2 - This paper puts forward a coordinated formation control scheme for multiple fixed-wing unmanned aerial vehicle (UAV) systems with external nonlinear disturbances including not only the drag force and uncertain lateral force, but also the drag, lift, and lateral forces caused by wake vortices. A novel distributed finite-time extended state observer is designed to estimate both the unmeasurable states and uncertain external nonlinear disturbances of each fixed-wing UAV. In particular, an event-triggered mechanism is employed to reduce the burden of communication networks among multiple fixed-wing UAVs. Meanwhile, an inter-trigger output predictor, replacing the classic zero-order holder, is adopted to obtain cooperative errors between two consecutive triggering moments. Furthermore, a composite distributed controller is proposed to mitigate uncertain disturbances, enabling the coordinated formation flying of multiple fixed-wing UAVs.Finally, two illustrative simulation scenarios are discussed to verify the performance of the presented coordinated formation control scheme.
AB - This paper puts forward a coordinated formation control scheme for multiple fixed-wing unmanned aerial vehicle (UAV) systems with external nonlinear disturbances including not only the drag force and uncertain lateral force, but also the drag, lift, and lateral forces caused by wake vortices. A novel distributed finite-time extended state observer is designed to estimate both the unmeasurable states and uncertain external nonlinear disturbances of each fixed-wing UAV. In particular, an event-triggered mechanism is employed to reduce the burden of communication networks among multiple fixed-wing UAVs. Meanwhile, an inter-trigger output predictor, replacing the classic zero-order holder, is adopted to obtain cooperative errors between two consecutive triggering moments. Furthermore, a composite distributed controller is proposed to mitigate uncertain disturbances, enabling the coordinated formation flying of multiple fixed-wing UAVs.Finally, two illustrative simulation scenarios are discussed to verify the performance of the presented coordinated formation control scheme.
KW - cooperative formation
KW - external disturbances
KW - finite-time distributed extended state observer
KW - inter-trigger output predictor
KW - UAVs
UR - http://www.scopus.com/inward/record.url?scp=85197927994&partnerID=8YFLogxK
U2 - 10.3390/drones8060260
DO - 10.3390/drones8060260
M3 - 文章
AN - SCOPUS:85197927994
SN - 2504-446X
VL - 8
JO - Drones
JF - Drones
IS - 6
M1 - 260
ER -