Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints

Bojian Liu; Yong Guo; Aijun Li

doi:10.1016/j.ast.2023.108407

Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints

Bojian Liu, Yong Guo, Aijun Li

School of Automation

Northwestern Polytechnical University Xian

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

10 Scopus citations

Abstract

This paper devotes to addressing the finite-time containment control for the multi-UAVs with input saturation and velocity constraints. A novel smooth function is presented to estimate the saturation function with adjustable estimate errors. By utilizing the mean-value theorem, the containment control for UAVs with input saturation can be turned into a variable gain control problem. To address this issue, the Nussbaum-based method is used to design the controller in this paper. Besides, based on the backstepping method, the controller can constrain the velocity states of UAVs within a desired time-varying asymmetric region by limiting the values of virtual velocity commands and the Lyapunov function. Finally, the finite-time convergence of the errors and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.

Original language	English
Article number	108407
Journal	Aerospace Science and Technology
Volume	139
DOIs	https://doi.org/10.1016/j.ast.2023.108407
State	Published - Aug 2023

Keywords

Backstepping control
Containment control
Input saturation
Nussbaum function
Velocity constraint

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10.1016/j.ast.2023.108407

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title = "Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints",

abstract = "This paper devotes to addressing the finite-time containment control for the multi-UAVs with input saturation and velocity constraints. A novel smooth function is presented to estimate the saturation function with adjustable estimate errors. By utilizing the mean-value theorem, the containment control for UAVs with input saturation can be turned into a variable gain control problem. To address this issue, the Nussbaum-based method is used to design the controller in this paper. Besides, based on the backstepping method, the controller can constrain the velocity states of UAVs within a desired time-varying asymmetric region by limiting the values of virtual velocity commands and the Lyapunov function. Finally, the finite-time convergence of the errors and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.",

keywords = "Backstepping control, Containment control, Input saturation, Nussbaum function, Velocity constraint",

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

note = "Publisher Copyright: {\textcopyright} 2023 Elsevier Masson SAS",

year = "2023",

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T1 - Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints

AU - Liu, Bojian

AU - Guo, Yong

AU - Li, Aijun

PY - 2023/8

Y1 - 2023/8

N2 - This paper devotes to addressing the finite-time containment control for the multi-UAVs with input saturation and velocity constraints. A novel smooth function is presented to estimate the saturation function with adjustable estimate errors. By utilizing the mean-value theorem, the containment control for UAVs with input saturation can be turned into a variable gain control problem. To address this issue, the Nussbaum-based method is used to design the controller in this paper. Besides, based on the backstepping method, the controller can constrain the velocity states of UAVs within a desired time-varying asymmetric region by limiting the values of virtual velocity commands and the Lyapunov function. Finally, the finite-time convergence of the errors and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.

AB - This paper devotes to addressing the finite-time containment control for the multi-UAVs with input saturation and velocity constraints. A novel smooth function is presented to estimate the saturation function with adjustable estimate errors. By utilizing the mean-value theorem, the containment control for UAVs with input saturation can be turned into a variable gain control problem. To address this issue, the Nussbaum-based method is used to design the controller in this paper. Besides, based on the backstepping method, the controller can constrain the velocity states of UAVs within a desired time-varying asymmetric region by limiting the values of virtual velocity commands and the Lyapunov function. Finally, the finite-time convergence of the errors and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.

KW - Backstepping control

KW - Containment control

KW - Input saturation

KW - Nussbaum function

KW - Velocity constraint

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DO - 10.1016/j.ast.2023.108407

M3 - 文章

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JO - Aerospace Science and Technology

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ER -

Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints

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Keywords

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