Distributed leader-follower consensus tracking control for fixed-wind uavs with positive linear speeds under directed graphs. Issue 5 (2020)

• Record Type: Journal Article
• Authors: Peng, Xiuhui; Wang, Qishao; Xiong, Shixun
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 5(2020)
• Page Start: 487
• Page End: 490
• Publication Date: 2020
• Subjects: Distributed consensus -- fixed-wing uavs -- positive linear speeds -- distributed observer -- directed graph; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2021.04.134
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper addresses the distributed leader-follower consensus tracking control problem of multiple fixed-wing uavs under directed graphs. A two-stage control structure, which can ensure the designed liner speeds always positive, is proposed. Using the position errors and the constructed intermediate attitude, the leader-follower consensus tracking controller is proposed under directed graph, when the leader's states available to each follower. Thereafter, based on this proposed control structure, the distributed leader-follower consensus tracking controller with the distributed observer is proposed, in which only a subset of followers have access to the leader's information. Finally, the numerical simulations are provided to validate the effectiveness of the proposed controllers.