Finite-time tracking control of tanker/UAV formation with hose connection based on constraint space

This paper investigates the problem of finite-time tracking control for refueling formations under hose connection constraints subsequent to the docking of a receiving unmanned aerial vehicle (UAV) and a tanker in autonomous aerial refueling missions. The inclusion of hose connections not only imposes constraints to prevent disconnection but also introduces disturbances to the UAV. Initially, a model for the tension constraints at the hose-UAV connection point is first introduced, transforming complex hose constraints into relative state constraints between the UAV and the tanker. Meanwhile, a modified barrier function that incorporates the UAV’s state and formation tracking errors is designed to deal with the decomposed hose constraints. Furthermore, an extended state observer is deployed to estimate external complex disturbances. Subsequently, leveraging dynamic surface control techniques, a finite-time control scheme is proposed to meet the dual requirements of preventing hose disconnection and achieving rapid convergence in the refueling formation. Compared to traditional hose constraint solutions, this scheme enhances the safety of refueling formation systems. Both theoretical proofs and simulation results substantiate the efficacy of the proposed control scheme.