Multi-Orbit Circumnavigation Control of UAVs With Arbitrary Angular Spacing in Three-Dimensional Space

IF 6.7 2区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

IEEE Transactions on Network Science and Engineering Pub Date : 2025-01-27 DOI:10.1109/TNSE.2025.3534421

Yanhong Luo;Zhen Wang;Huaguang Zhang;Xiangpeng Xie

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Abstract

In this paper, a novel multi-orbit circumnavigation control law is proposed for a group of UAVs with arbitrary angular spacing based on local information. By constructing the actual relative velocity and the ideal relative velocity in three dimensional space, the circumnavigation control problem of moving target is first transformed into a relative velocity tracking problem. Further, to remove the limitation that the UAVs require the global information of the moving target, the corresponding fixed-time convergent estimators with the cyclic directed graph are developed. Based on these distributed estimators and relative kinematics equations, the dynamic linear feedback is introduced to derive the distributed control law. At the same time, the angular spacing update law and the circumnavigation radius coefficient are designed, so that the UAVs can circumnavigate on multi-orbit with any angular spacing. Finally, the exponential stability of the control law is proved by Lyapunov method, and the effectiveness of the control law is verified by five examples.

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三维空间任意角距无人机多轨道绕航控制

本文提出了一种基于局部信息的任意角间距无人机多轨道绕航控制律。通过在三维空间中构造实际相对速度和理想相对速度，首先将运动目标绕航控制问题转化为相对速度跟踪问题。在此基础上，提出了基于循环有向图的固定时间收敛估计器，消除了无人机需要运动目标全局信息的局限性。在这些分布估计量和相关运动学方程的基础上，引入动态线性反馈，推导出分布控制律。同时，设计了角间距更新规律和绕航半径系数，使无人机能够在任意角间距的多轨道上绕航。最后，利用Lyapunov方法证明了控制律的指数稳定性，并通过5个算例验证了控制律的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Network Science and Engineering Engineering-Control and Systems Engineering

CiteScore

12.60

自引率

9.10%

发文量

393

期刊介绍： The proposed journal, called the IEEE Transactions on Network Science and Engineering (TNSE), is committed to timely publishing of peer-reviewed technical articles that deal with the theory and applications of network science and the interconnections among the elements in a system that form a network. In particular, the IEEE Transactions on Network Science and Engineering publishes articles on understanding, prediction, and control of structures and behaviors of networks at the fundamental level. The types of networks covered include physical or engineered networks, information networks, biological networks, semantic networks, economic networks, social networks, and ecological networks. Aimed at discovering common principles that govern network structures, network functionalities and behaviors of networks, the journal seeks articles on understanding, prediction, and control of structures and behaviors of networks. Another trans-disciplinary focus of the IEEE Transactions on Network Science and Engineering is the interactions between and co-evolution of different genres of networks.