{"title":"Velocity-constrained distributed formation tracking of fixed-wing UAVs with multiple leaders","authors":"","doi":"10.1016/j.ast.2024.109514","DOIUrl":null,"url":null,"abstract":"<div><p>This paper addresses the safety-critical formation tracking of fixed-wing unmanned aerial vehicles, where both the velocity constraint and multiple leaders are taken into consideration. A hierarchical control strategy, consisting of a distributed observer and a formation controller, is elaborately constructed to achieve the desired configuration with the velocity in a safe range. First, a novel distributed observer is designed to estimate the formation error, which promises the practical fixed-time convergence of the estimation error despite unknown inputs of leaders and disturbances. Then, the velocity constraint is enforced through the forward invariance of a safety set, for which a robust control barrier function is carefully constructed considering the effect of disturbances. Further, a local formation controller is established by embedding the robust control barrier function into quadratic programming. Compared with existing results, the proposed controller is able to achieve the formation configuration while satisfying velocity safety, even in the presence of disturbances. Simulations are conducted to demonstrate the proposed method's capability in guaranteeing velocity constraint and stabilizing formation errors.</p></div>","PeriodicalId":50955,"journal":{"name":"Aerospace Science and Technology","volume":null,"pages":null},"PeriodicalIF":5.0000,"publicationDate":"2024-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Aerospace Science and Technology","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S1270963824006448","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}
引用次数: 0
Abstract
This paper addresses the safety-critical formation tracking of fixed-wing unmanned aerial vehicles, where both the velocity constraint and multiple leaders are taken into consideration. A hierarchical control strategy, consisting of a distributed observer and a formation controller, is elaborately constructed to achieve the desired configuration with the velocity in a safe range. First, a novel distributed observer is designed to estimate the formation error, which promises the practical fixed-time convergence of the estimation error despite unknown inputs of leaders and disturbances. Then, the velocity constraint is enforced through the forward invariance of a safety set, for which a robust control barrier function is carefully constructed considering the effect of disturbances. Further, a local formation controller is established by embedding the robust control barrier function into quadratic programming. Compared with existing results, the proposed controller is able to achieve the formation configuration while satisfying velocity safety, even in the presence of disturbances. Simulations are conducted to demonstrate the proposed method's capability in guaranteeing velocity constraint and stabilizing formation errors.
期刊介绍:
Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to:
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Etc.