@inproceedings{f8d63c92ed7f4f04a5de8fa4b2412637,
title = "Finite-Time Bearing-Based Formation Maneuver Control of Quadrotor UAVs",
abstract = "This article addresses the formation maneuvering control problem of quadrotor unmanned aerial vehicles (UAVs) in 3-D space subject to unknown external disturbances. The finite-time bearing-based controller is designed to rapidly achieve translational and clustering maneuvers of the system. The leader-follower structure is adopted which can achieve formation mobility for all mem-bers by merely manipulating the position of the leaders. With the aid of finite-time theory and sliding-mode theory, the followers can achieve the desired trajec-tory. Additionally, considering the vulnerability of UAVs to external disturbances, adaptive control is utilized to improve the robustness of the system. Based on Lyapunov theory, formation errors, and all closed-loop signals can reach a stable state. Finally, numerical simulations demonstrate the effectiveness of the proposed controller.",
keywords = "adaptive control, bearing constraint, finite-time control, Quadrotor UAV formation, sliding-mode control",
author = "Yuanchun Ren and Xuchen Wang and Yang Xu",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; International Conference on Guidance, Navigation and Control, ICGNC 2024 ; Conference date: 09-08-2024 Through 11-08-2024",
year = "2025",
doi = "10.1007/978-981-96-2228-3_52",
language = "英语",
isbn = "9789819622276",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "560--569",
editor = "Liang Yan and Haibin Duan and Yimin Deng",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 8",
}