Tracking-oriented formation control for unmanned aerial vehicle swarm through output feedback under jointly-connected topologies

The cooperation between a manned aerial vehicle (MAV) and an unmanned aerial vehicle swarm (UAVS) to perform tasks will be a new focus of UAVS application in the foreseeable future. It is expected that a UAVS should be able to complete time-varying formation (TVF) flight while simultaneously trackin...

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Bibliographic Details
Published inIEEE transactions on vehicular technology Vol. 73; no. 1; pp. 1 - 13
Main Authors Xin, Bin, Kang, Yuhang, Liu, Wei
Format Journal Article
LanguageEnglish
Published New York IEEE 01.01.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Asymptotic properties
Autonomous aerial vehicles
Consensus control
Control stability
Control systems
dynamic output feedback
Feedback control
Formation control
jointly-connected directed switching topologies (JCDST)
Micro air vehicles (MAV)
Output feedback
Stability criteria
State feedback
Switches
time-varying formation (TVF)
Topology
Tracking control
tracking-oriented
Unmanned aerial vehicle swarm (UAVS)
Unmanned aerial vehicles
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Summary:The cooperation between a manned aerial vehicle (MAV) and an unmanned aerial vehicle swarm (UAVS) to perform tasks will be a new focus of UAVS application in the foreseeable future. It is expected that a UAVS should be able to complete time-varying formation (TVF) flight while simultaneously tracking the trajectory of a MAV. This paper studies the tracking-oriented TVF control problem of UAVSs under jointly-connected directed switching topologies (JCDST). To begin with, a distributed formation controller with one intermediate variable for estimating each UAV's state is devised based upon dynamic output feedback control approach. Then, the tracking-oriented TVF formation control issue is converted into an issue about the asymptotic stability control of a fast time averaging system via an appropriate variable conversion. Furthermore, the sufficient condition for the asymptotic stability of the fast time averaging system, and the computing approach of the unknown control matrices are acquired and proved through a special kind of similar matrix transformation and Hurwitz stability criterion. Finally, the effectiveness and correctness of the proposed method are verified by comparing simulation results.
ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2023.3310502