Event-Triggered Distributed Adaptive Fixed-Time Formation Control of QUAVs With Input Constraints

This paper considers the distributed fixed-time formation control problem of multiple quad-rotor unmanned aerial vehicles (QUAVs) subject to input constraints. With an emphasis on resolving the "explosion of complexity" problem, the fixed-time command filter is constructed. Aiming at elimi...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on vehicular technology Vol. 73; no. 5; pp. 6357 - 6367
Main Authors Xu, Hui, Cui, Guozeng, Ma, Qian, Li, Ze
Format Journal Article
LanguageEnglish
Published New York IEEE 01.05.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Algorithms
Backstepping
Closed loops
Command filtered backstepping
Control algorithms
Control theory
Convergence
Error compensation
Event triggered control
event-triggered
fixed-time control
Formation control
input constraints
multiple QUAVs
Process control
System performance
Topology
Tracking errors
Unmanned aerial vehicles
Upper bound
Online AccessGet full text

Cover

Abstract This paper considers the distributed fixed-time formation control problem of multiple quad-rotor unmanned aerial vehicles (QUAVs) subject to input constraints. With an emphasis on resolving the "explosion of complexity" problem, the fixed-time command filter is constructed. Aiming at eliminating the impact of filtering errors, the error compensation signals based on fractional-power are designed. Additionally, the problem of singularity is skillfully addressed with the help of the piecewise function. To compensate for the influence of input constraints, the auxiliary signal with fixed-time convergence is devised. By incorporating the event-triggered control mechanism into the command filtered backstepping design process, an event-triggered distributed adaptive fixed-time formation control algorithm for multiple QUAVs is developed. It is strictly proved that all closed-loop signals are fixed-time bounded and the formation tracking errors are driven into a small neighborhood of the origin within a fixed time. Finally, two simulation examples demonstrate the effectiveness of the proposed fixed-time formation control scheme.
AbstractList This paper considers the distributed fixed-time formation control problem of multiple quad-rotor unmanned aerial vehicles (QUAVs) subject to input constraints. With an emphasis on resolving the “explosion of complexity” problem, the fixed-time command filter is constructed. Aiming at eliminating the impact of filtering errors, the error compensation signals based on fractional-power are designed. Additionally, the problem of singularity is skillfully addressed with the help of the piecewise function. To compensate for the influence of input constraints, the auxiliary signal with fixed-time convergence is devised. By incorporating the event-triggered control mechanism into the command filtered backstepping design process, an event-triggered distributed adaptive fixed-time formation control algorithm for multiple QUAVs is developed. It is strictly proved that all closed-loop signals are fixed-time bounded and the formation tracking errors are driven into a small neighborhood of the origin within a fixed time. Finally, two simulation examples demonstrate the effectiveness of the proposed fixed-time formation control scheme.
Author Li, Ze
Cui, Guozeng
Ma, Qian
Xu, Hui
Author_xml – sequence: 1
  givenname: Hui
  orcidid: 0000-0002-7946-3192
  surname: Xu
  fullname: Xu, Hui
  email: huixuing@163.com
  organization: School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China
– sequence: 2
  givenname: Guozeng
  orcidid: 0000-0001-6880-4361
  surname: Cui
  fullname: Cui, Guozeng
  email: guozengcui@gmail.com
  organization: School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China
– sequence: 3
  givenname: Qian
  orcidid: 0000-0002-0593-0157
  surname: Ma
  fullname: Ma, Qian
  email: qianmashine@gmail.com
  organization: School of Automation, Nanjing University of Science and Technology, Nanjing, China
– sequence: 4
  givenname: Ze
  orcidid: 0000-0002-0354-4666
  surname: Li
  fullname: Li, Ze
  email: lizeing@163.com
  organization: School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, China
BookMark eNp9kE1PAjEQhhuDiYDePXjYxPNi29lu6ZEgKAmJMVnwuGlpF0tgi20h-u_dFQ7Gg6eZybzvfDw91KldbRC6JXhACBYPxbIYUExhAJAxQdkF6hIBIhXARAd1MSbDVLCMXaFeCJumzDJBukhOjqaOaeHtem280cmjDdFbdYhNPtJyH-3RJFP7aXRa2F2TOr-T0bo6Gbs6erdNXJW8LkbLkLzZ-J7M6v0htr1mjLR1DNfospLbYG7OsY8W00kxfk7nL0-z8WierqigMV1lRKlccCWBg9aSSkwV5JhzzZWSMlNcm7xioDFlig8lZKrSGdWCSYCKQB_dn-buvfs4mBDLjTv4ullZAmaM5AIaIH2Un1Qr70LwpipXNv780567LQkuW5xlg7NscZZnnI0R_zHuvd1J__Wf5e5kscaYX3LglFAO39drgxk
CODEN ITVTAB
CitedBy_id crossref_primary_10_1109_TFUZZ_2024_3496562
crossref_primary_10_1016_j_engappai_2024_109860
crossref_primary_10_1016_j_conengprac_2024_106105
crossref_primary_10_1109_TITS_2024_3382816
crossref_primary_10_1109_TVT_2024_3423787
Cites_doi 10.1109/9.935058
10.1080/00207721.2014.925608
10.1016/j.ast.2022.107784
10.1109/JETCAS.2023.3277544
10.1109/TAES.2021.3068434
10.1109/TCSII.2021.3069967
10.1016/j.ast.2020.105968
10.1109/TAES.2021.3050647
10.1109/TCSI.2021.3061386
10.1109/TIE.2016.2552151
10.1109/TCYB.2020.2987811
10.1109/TAES.2021.3098168
10.1016/j.ast.2021.107252
10.1007/s11432-020-3128-2
10.1080/00207179.2020.1743366
10.1109/TAC.2009.2015562
10.1109/TNNLS.2021.3071020
10.1109/TCST.2012.2200104
10.1109/TSMC.2021.3103013
10.1109/TCSII.2021.3084240
10.1109/9.486648
10.1109/TAC.2011.2160030
10.1109/72.159070
10.1109/TAC.2011.2122730
10.1016/j.amc.2021.126898
10.1016/j.automatica.2019.03.029
10.1109/TCST.2011.2167331
10.1109/TVT.2020.3023733
10.1109/TVT.2022.3192350
10.1109/TIE.2023.3239870
10.1109/TAC.2022.3144107
10.1016/j.neucom.2019.06.063
10.1109/TVT.2021.3129267
10.1016/j.ins.2018.04.016
10.1109/TVT.2020.2964847
10.1016/j.cja.2020.03.004
10.1109/TMECH.2020.3017816
10.1007/s11071-021-06332-3
10.1109/TMECH.2014.2329945
10.1109/TIE.2021.3055181
10.1002/rnc.6746
10.1109/TAC.2016.2594204
10.1007/s11071-017-3683-y
10.1109/TAC.2011.2179869
10.1109/TMECH.2021.3094575
ContentType Journal Article
Copyright Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2024
Copyright_xml – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2024
DBID 97E
RIA
RIE
AAYXX
CITATION
7SP
8FD
FR3
KR7
L7M
DOI 10.1109/TVT.2023.3345925
DatabaseName IEEE All-Society Periodicals Package (ASPP) 2005–Present
IEEE All-Society Periodicals Package (ASPP) 1998–Present
IEEE Electronic Library (IEL)
CrossRef
Electronics & Communications Abstracts
Technology Research Database
Engineering Research Database
Civil Engineering Abstracts
Advanced Technologies Database with Aerospace
DatabaseTitle CrossRef
Civil Engineering Abstracts
Engineering Research Database
Technology Research Database
Advanced Technologies Database with Aerospace
Electronics & Communications Abstracts
DatabaseTitleList Civil Engineering Abstracts
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISSN 1939-9359
EndPage 6367
ExternalDocumentID 10_1109_TVT_2023_3345925
10372127
Genre orig-research
GrantInformation_xml – fundername: 333 Project of Jiangsu Province
– fundername: Natural Science Fund for Excellent Young Scholars of Jiangsu Province
  grantid: BK20211605
GroupedDBID -~X
.DC
0R~
29I
3EH
4.4
5GY
5VS
6IK
97E
AAIKC
AAJGR
AAMNW
AARMG
AASAJ
AAWTH
ABAZT
ABQJQ
ABVLG
ACGFO
ACGFS
ACIWK
ACNCT
AENEX
AETIX
AGQYO
AGSQL
AHBIQ
AI.
AIBXA
AKJIK
AKQYR
ALLEH
ALMA_UNASSIGNED_HOLDINGS
ASUFR
ATWAV
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CS3
DU5
EBS
EJD
HZ~
H~9
IAAWW
IBMZZ
ICLAB
IFIPE
IFJZH
IPLJI
JAVBF
LAI
M43
MS~
O9-
OCL
P2P
RIA
RIE
RNS
RXW
TAE
TN5
VH1
AAYOK
AAYXX
CITATION
RIG
7SP
8FD
FR3
KR7
L7M
ID FETCH-LOGICAL-c292t-c41bb697ba373dda2a02b36077d7bbaa4b7de6f53d025b78a34bfd42d95a33f13
IEDL.DBID RIE
ISSN 0018-9545
IngestDate Mon Jun 30 08:13:27 EDT 2025
Thu Apr 24 23:12:14 EDT 2025
Tue Jul 01 01:44:26 EDT 2025
Wed Aug 27 02:05:24 EDT 2025
IsPeerReviewed true
IsScholarly true
Issue 5
Language English
License https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html
https://doi.org/10.15223/policy-029
https://doi.org/10.15223/policy-037
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c292t-c41bb697ba373dda2a02b36077d7bbaa4b7de6f53d025b78a34bfd42d95a33f13
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ORCID 0000-0002-0354-4666
0000-0002-0593-0157
0000-0002-7946-3192
0000-0001-6880-4361
PQID 3055169319
PQPubID 85454
PageCount 11
ParticipantIDs crossref_primary_10_1109_TVT_2023_3345925
proquest_journals_3055169319
crossref_citationtrail_10_1109_TVT_2023_3345925
ieee_primary_10372127
ProviderPackageCode CITATION
AAYXX
PublicationCentury 2000
PublicationDate 2024-05-01
PublicationDateYYYYMMDD 2024-05-01
PublicationDate_xml – month: 05
  year: 2024
  text: 2024-05-01
  day: 01
PublicationDecade 2020
PublicationPlace New York
PublicationPlace_xml – name: New York
PublicationTitle IEEE transactions on vehicular technology
PublicationTitleAbbrev TVT
PublicationYear 2024
Publisher IEEE
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml – name: IEEE
– name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References ref13
ref35
ref12
ref34
ref15
ref37
ref14
ref36
ref31
ref30
ref11
ref33
ref10
ref32
ref2
ref1
ref17
ref39
ref16
ref38
ref19
ref18
ref24
ref23
ref45
ref26
ref25
ref20
ref42
ref41
ref22
ref44
ref21
ref43
ref28
ref27
ref29
ref8
ref7
ref9
ref4
ref3
ref6
ref5
ref40
References_xml – ident: ref37
  doi: 10.1109/9.935058
– ident: ref39
  doi: 10.1080/00207721.2014.925608
– ident: ref15
  doi: 10.1016/j.ast.2022.107784
– ident: ref31
  doi: 10.1109/JETCAS.2023.3277544
– ident: ref22
  doi: 10.1109/TAES.2021.3068434
– ident: ref14
  doi: 10.1109/TCSII.2021.3069967
– ident: ref17
  doi: 10.1016/j.ast.2020.105968
– ident: ref18
  doi: 10.1109/TAES.2021.3050647
– ident: ref42
  doi: 10.1109/TCSI.2021.3061386
– ident: ref5
  doi: 10.1109/TIE.2016.2552151
– ident: ref12
  doi: 10.1109/TCYB.2020.2987811
– ident: ref27
  doi: 10.1109/TAES.2021.3098168
– ident: ref28
  doi: 10.1016/j.ast.2021.107252
– ident: ref43
  doi: 10.1007/s11432-020-3128-2
– ident: ref11
  doi: 10.1080/00207179.2020.1743366
– ident: ref13
  doi: 10.1109/TAC.2009.2015562
– ident: ref7
  doi: 10.1109/TNNLS.2021.3071020
– ident: ref34
  doi: 10.1109/TCST.2012.2200104
– ident: ref20
  doi: 10.1109/TSMC.2021.3103013
– ident: ref23
  doi: 10.1109/TCSII.2021.3084240
– ident: ref44
  doi: 10.1109/9.486648
– ident: ref45
  doi: 10.1109/TAC.2011.2160030
– ident: ref36
  doi: 10.1109/72.159070
– ident: ref24
  doi: 10.1109/TAC.2011.2122730
– ident: ref41
  doi: 10.1016/j.amc.2021.126898
– ident: ref32
  doi: 10.1016/j.automatica.2019.03.029
– ident: ref1
  doi: 10.1109/TCST.2011.2167331
– ident: ref2
  doi: 10.1109/TVT.2020.3023733
– ident: ref8
  doi: 10.1109/TVT.2022.3192350
– ident: ref33
  doi: 10.1109/TIE.2023.3239870
– ident: ref16
  doi: 10.1109/TAC.2022.3144107
– ident: ref35
  doi: 10.1016/j.neucom.2019.06.063
– ident: ref3
  doi: 10.1109/TVT.2021.3129267
– ident: ref38
  doi: 10.1016/j.ins.2018.04.016
– ident: ref9
  doi: 10.1109/TVT.2020.2964847
– ident: ref19
  doi: 10.1016/j.cja.2020.03.004
– ident: ref6
  doi: 10.1109/TMECH.2020.3017816
– ident: ref25
  doi: 10.1007/s11071-021-06332-3
– ident: ref4
  doi: 10.1109/TMECH.2014.2329945
– ident: ref10
  doi: 10.1109/TIE.2021.3055181
– ident: ref30
  doi: 10.1002/rnc.6746
– ident: ref29
  doi: 10.1109/TAC.2016.2594204
– ident: ref40
  doi: 10.1007/s11071-017-3683-y
– ident: ref21
  doi: 10.1109/TAC.2011.2179869
– ident: ref26
  doi: 10.1109/TMECH.2021.3094575
SSID ssj0014491
Score 2.4767454
Snippet This paper considers the distributed fixed-time formation control problem of multiple quad-rotor unmanned aerial vehicles (QUAVs) subject to input constraints....
SourceID proquest
crossref
ieee
SourceType Aggregation Database
Enrichment Source
Index Database
Publisher
StartPage 6357
SubjectTerms Algorithms
Backstepping
Closed loops
Command filtered backstepping
Control algorithms
Control theory
Convergence
Error compensation
Event triggered control
event-triggered
fixed-time control
Formation control
input constraints
multiple QUAVs
Process control
System performance
Topology
Tracking errors
Unmanned aerial vehicles
Upper bound
Title Event-Triggered Distributed Adaptive Fixed-Time Formation Control of QUAVs With Input Constraints
URI https://ieeexplore.ieee.org/document/10372127
https://www.proquest.com/docview/3055169319
Volume 73
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LS8QwEA66Jz34FtcXOXjxkG7bJM3mKOqigp7Wx61kmlRF2V3cLoi_3kzayqIo3gJNwsCXx0wz832EHCnnfCABwGQ_s0xI02dghWAJxGWqY-NMkOm8vskubsXVg3xoitVDLYxzLiSfuQib4S3fjosZ_irrYU0bMpIvkkUfudXFWl9PBkI08niJ38HeL2jfJGPdG94NI5QJjzgXUqMq9twdFERVfpzE4XoZrJKb1rA6q-QlmlUQFR_fOBv_bfkaWWkcTXpSr4x1suBGG2R5jn5wk5hzTHZkQx-gP6JkJz1DFl0UwPLtE2smeBTSwfO7swxLReigrXSkp3WGOx2X1PvEd1N6_1w90cvRZFbht2lQnqimW-R2cD48vWCN5AIrUp1WrBAJQKYVGK64tSY1cQo8i5WyCsAYAcq6rJTcel8JVN9wAaUVqdXScF4mfJt0RuOR2yHUKClLx-PUcSP6KRgFVhUOQMWyAK67pNeCkBcNHzka95qHuCTWuYctR9jyBrYuOf4aMam5OP7ou4UozPWrAeiS_RbovNmt0xxZz5CUJtG7vwzbI0t-dlFnOu6TTvU2cwfeG6ngMKzCTx422_g
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1Nb9QwEB1BOUAPfLZiSwEfuHBwNonteH2sSldbaPeUlt4iT-xAVbS76mYlxK-vx0mqFQjEzVJseaTnj3Fm5j2AD9r78JBA5GpSOC6VnXB0UvIM0yY3qfU2ynSez4vZhfx8pa76YvVYC-O9j8lnPqFmjOW7Zb2hX2VjqmkjRvKH8Chc_CrryrXugwZS9gJ5WdjDocMQlUzNuLwsExIKT4SQypAu9tYtFGVV_jiL4wUzfQbzwbQur-Qm2bSY1L9-Y238b9ufw9Pe1WRH3dp4AQ_84iXsbhEQvgJ7QumOvAxP9G8k2sk-EY8uSWCF9pGzKzoM2fT6p3ecikXYdKh1ZMddjjtbNix4xZdr9vW6_c5OF6tNS9_WUXuiXe_BxfSkPJ7xXnSB17nJW17LDLEwGq3Qwjmb2zRHUaRaO41orUTtfNEo4YK3hHpihcTGydwZZYVoMrEPO4vlwr8GZrVSjRdp7oWVkxytRqdrj6hTVaMwIxgPIFR1z0hOxv2o4sskNVWArSLYqh62EXy8H7Hq2Dj-0XePUNjq1wEwgsMB6Krfr-uKeM-IliYzB38Z9h4ez8rzs-rsdP7lDTwJM8ku7_EQdtrbjX8bfJMW38UVeQfAH99B
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Event-Triggered+Distributed+Adaptive+Fixed-Time+Formation+Control+of+QUAVs+With+Input+Constraints&rft.jtitle=IEEE+transactions+on+vehicular+technology&rft.au=Xu%2C+Hui&rft.au=Cui%2C+Guozeng&rft.au=Ma%2C+Qian&rft.au=Li%2C+Ze&rft.date=2024-05-01&rft.issn=0018-9545&rft.eissn=1939-9359&rft.volume=73&rft.issue=5&rft.spage=6357&rft.epage=6367&rft_id=info:doi/10.1109%2FTVT.2023.3345925&rft.externalDBID=n%2Fa&rft.externalDocID=10_1109_TVT_2023_3345925
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0018-9545&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0018-9545&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0018-9545&client=summon