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- Title
Finite-time distributed formation tracking control of multi-UAVs with a time-varying reference trajectory.
- Authors
Zhao, Wei; Li, Renfu; Zhang, Huaipin
- 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.
- Subjects
FINITE fields; TRACKING control systems; DRONE aircraft; TIME-varying systems; COMPUTER simulation
- Publication
IMA Journal of Mathematical Control & Information, 2018, Vol 35, Issue 4, p1297
- ISSN
0265-0754
- Publication type
Article
- DOI
10.1093/imamci/dnx028