固定翼无人机集群预定时间仿射编队机动控制

doi:10.7527/S1000-6893.2024.31824

Abstract

Abstract:

To address the problem of predefining the convergence time in traditional “leader-follower” affine formation maneuvering control methods， a predefined-time affine formation maneuvering control method for fixed-wing Unmanned Aerial Vehicle （UAV） swarm is proposed. First， a predefined-time affine observer is designed for directed communication topology to ensure that the follower UAVs can accurately observe the desired affine formation maneuvering states within the specified time. Next， the UAV state tracking problem under input constraints is transformed into a time-varying control coefficient problem， which is solved using a backstepping-based state tracking controller incorporating the Nussbaum function. Additionally， a predefined-time disturbance estimator is constructed to actively compensate for unknown disturbances during flight. The system’s stability and predefined-time convergence are rigorously proven using Lyapunov stability theory and predefined-time theory. Finally， simulation results demonstrate that the proposed method can achieve affine formation maneuvering control for fixed-wing UAV swarm within the predefined time， while exhibiting disturbance rejection and anti-saturation performance. Furthermore， the comparative simulation results provide additional validation of the superiority of the proposed method.

Key words: affine formation maneuvering, fixed-wing UAV, predefined-time control, state tracking, Nussbaum function, input saturation

CLC Number:

V249

Chao YAN, Zexu ZHANG, Hutao CUI, Kai ZHANG, Jingzong LIU. Predefined-time affine formation maneuvering control for fixed-wing UAV swarm[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(22): 331824.

Figures/Tables 13

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Predefined-time affine formation maneuvering control for fixed-wing UAV swarm

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