Distributed sliding mode control for leader‐follower formation flight of fixed‐wing unmanned aerial vehicles subject to velocity constraints
Summary This paper considers the leader‐follower formation flight of fixed‐wing unmanned aerial vehicles (UAVs) subject to velocity constraints. A novel distributed sliding mode control law is proposed for each UAV, whose kinematics is described by a unicycle model with a saturated angular velocity...
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| Published in | International journal of robust and nonlinear control Vol. 31; no. 6; pp. 2110 - 2125 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Bognor Regis
Wiley Subscription Services, Inc
01.04.2021
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| Abstract | Summary
This paper considers the leader‐follower formation flight of fixed‐wing unmanned aerial vehicles (UAVs) subject to velocity constraints. A novel distributed sliding mode control law is proposed for each UAV, whose kinematics is described by a unicycle model with a saturated angular velocity and a bounded linear velocity within an interval. The designed control law of each follower UAV only uses its own information and the information of its leader UAV. Driven by the designed control law, the desired formation is achieved with rigorous proof, while the follower UAVs' constraints of both the linear and angular velocities are satisfied. Moreover, the follower's speed adjustment range is relaxed and not required to be strictly larger than their leaders'. Finally, numerical simulations are presented to verify the results. |
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| AbstractList | Summary
This paper considers the leader‐follower formation flight of fixed‐wing unmanned aerial vehicles (UAVs) subject to velocity constraints. A novel distributed sliding mode control law is proposed for each UAV, whose kinematics is described by a unicycle model with a saturated angular velocity and a bounded linear velocity within an interval. The designed control law of each follower UAV only uses its own information and the information of its leader UAV. Driven by the designed control law, the desired formation is achieved with rigorous proof, while the follower UAVs' constraints of both the linear and angular velocities are satisfied. Moreover, the follower's speed adjustment range is relaxed and not required to be strictly larger than their leaders'. Finally, numerical simulations are presented to verify the results. This paper considers the leader‐follower formation flight of fixed‐wing unmanned aerial vehicles (UAVs) subject to velocity constraints. A novel distributed sliding mode control law is proposed for each UAV, whose kinematics is described by a unicycle model with a saturated angular velocity and a bounded linear velocity within an interval. The designed control law of each follower UAV only uses its own information and the information of its leader UAV. Driven by the designed control law, the desired formation is achieved with rigorous proof, while the follower UAVs' constraints of both the linear and angular velocities are satisfied. Moreover, the follower's speed adjustment range is relaxed and not required to be strictly larger than their leaders'. Finally, numerical simulations are presented to verify the results. |
| Author | Wang, Xiangke Li, Zhongkui Yu, Yangguang |
| Author_xml | – sequence: 1 givenname: Xiangke orcidid: 0000-0002-5074-7052 surname: Wang fullname: Wang, Xiangke email: xkwang@nudt.edu.cn organization: National University of Defense Technology – sequence: 2 givenname: Yangguang surname: Yu fullname: Yu, Yangguang organization: National University of Defense Technology – sequence: 3 givenname: Zhongkui surname: Li fullname: Li, Zhongkui organization: Peking University |
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| Cites_doi | 10.1016/j.automatica.2007.09.019 10.1109/AIM.2007.4412504 10.1515/ama-2017-0026 10.1002/rnc.1814 10.1002/rnc.2830 10.1109/TRO.2008.2006244 10.1002/rnc.1641 10.1016/j.automatica.2013.11.008 10.1109/TIE.2008.2002717 10.1109/70.976023 10.1504/IJVP.2018.088783 10.1002/rnc.4232 10.1109/TRA.2002.803463 10.12989/sss.2014.13.6.1065 10.1109/TRA.2003.819598 10.1109/TCST.2015.2437328 10.1002/rnc.3308 10.1016/j.sysconle.2010.06.014 10.1016/j.neucom.2016.03.021 10.1109/CDC.2004.1428782 10.1002/rnc.3195 10.1109/TII.2012.2219061 10.1002/rnc.1847 10.1177/0278364909104290 10.1016/S1474-6670(17)40028-0 10.1016/j.automatica.2014.10.022 10.1016/j.automatica.2010.05.020 10.1016/j.automatica.2012.11.031 10.1016/j.automatica.2009.09.002 10.1109/TIE.2015.2504042 10.1109/TCST.2004.826956 10.1007/s11432-018-9887-5 10.1177/0142331212454046 10.1016/j.arcontrol.2016.04.018 10.1109/TRA.2004.825275 10.1016/S0005-1098(97)00055-1 |
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This paper considers the leader‐follower formation flight of fixed‐wing unmanned aerial vehicles (UAVs) subject to velocity constraints. A novel... This paper considers the leader‐follower formation flight of fixed‐wing unmanned aerial vehicles (UAVs) subject to velocity constraints. A novel distributed... |
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| SubjectTerms | Angular velocity Control theory distributed control fixed‐wing UAV formation control Formation flying Kinematics Mathematical models Military strategy Sliding mode control Unmanned aerial vehicles Velocity velocity constraints |
| Title | Distributed sliding mode control for leader‐follower formation flight of fixed‐wing unmanned aerial vehicles subject to velocity constraints |
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