Finite-time distributed formation tracking control of multi-UAVs with a time-varying reference trajectory. (18th June 2017)

• Record Type: Journal Article
• Authors: Zhao, Wei; Li, Renfu; Zhang, Huaipin
• Is Part Of: IMA journal of mathematical control and information. Volume 35:Number 4(2018)
• Page Start: 1297
• Page End: 1318
• Publication Date: 2017-06-18
• Subjects: multi-UAV system -- finite-time tracking -- formation control -- event-triggered control; Control theory -- Periodicals; 629.831205
• DOI: 10.1093/imamci/dnx028
• Languages: English
• ISSNs: 0265-0754

Abstract

Abstract: This article studies finite-time distributed formation tracking control of a second-order multi-unmanned aerial vehicle (UAV) system. To reduce the burden of the system's computation and communication, a distributed framework is designed in the control of the formation configuration, in which a time-varying reference trajectory is known by the following UAVs as exogenous input that decides the UAVs moving target. Then, time-triggered and event-triggered consensus control protocols are proposed and theoretically proved to achieve the formation flight in finite time. Finally, a numerical simulation is conducted for the formation tracking control of a typical multi-UAV system to validate the effectiveness of the proposed control protocols.