A Smooth Distributed Formation Control Method for Quadrotor UAVs Under Event-Triggering Mechanism and Switching Topologies

This paper focuses on the formation control problem of a team of quadrotor unmanned aerial vehicles (UAVs) subject to switching directed topologies. We present a distributed event-triggered formation control algorithm via hierarchical framework, which achieves the formation control objective with we...

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Bibliographic Details
Published inIEEE transactions on vehicular technology Vol. 74; no. 7; pp. 10081 - 10091
Main Authors Huang, Yi, Xu, Xiangfan, Meng, Ziyang, Sun, Jian
Format Journal Article
LanguageEnglish
Published IEEE 01.07.2025
Subjects
Attitude control
Autonomous aerial vehicles
Event detection
event-triggering mechanism
Formation control
Heuristic algorithms
Quadrotors
Sun
Switches
switching topologies
Topology
unmanned aerial vehicles (UAVs)
Vehicle dynamics
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Summary:This paper focuses on the formation control problem of a team of quadrotor unmanned aerial vehicles (UAVs) subject to switching directed topologies. We present a distributed event-triggered formation control algorithm via hierarchical framework, which achieves the formation control objective with weak assumptions on switching topologies. In particular, we develop a distributed control force that enables the achievement of the target formation, which only relies on the neighbors' position information under event-triggering mechanism. The proposed algorithm can maintain smooth characteristics when confronted with discontinuities stemming from event-triggering mechanism and switching interactions among agents. Additionally, the boundedness of the command control force can be guaranteed by employing an auxiliary system. Subsequently, we develop an attitude tracking control algorithm to guarantee that the attitude error almost globally exponentially converges to zero. Finally, a numerical example is carried out to validate the theoretical results.
ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2025.3545932