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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2023, Vol. 44 ›› Issue (2): 326504.doi: 10.7527/S1000-6893.2021.26504

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Formation-containment tracking control for heterogeneous unmanned swarm systems with switching topologies

Zhiqiang WEI1, Zheming WENG2, Yongzhao HUA3(), Xiwang DONG3,4, Zhang REN4   

  1. 1.Academy for Engineering and Technology,Fudan University,Shanghai 200433,China
    2.Innovation & Research Institute of HIWING Technology Academy,Beijing 100074,China
    3.Institute of Artificial Intelligence,Beihang University,Beijing 100191,China
    4.School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China
  • Received:2021-10-11 Revised:2021-10-24 Accepted:2021-11-26 Online:2023-01-25 Published:2021-12-09
  • Contact: Yongzhao HUA E-mail:yongzhaohua@buaa.edu.cn
  • Supported by:
    National Natural Science Foundation of China(62103023);Young Elite Scientists Sposorship Program by CAST(2021QNRC001)

Abstract:

For the high-order heterogeneous swarm systems with different intra-layer cooperative control objectives and inter-layer coordination couplings, a definition and the framework for formation-containment tracking control of the swarm systems are proposed. A tracking-leader with time-varying input is applied to generate the macroscopic reference trajectory for the whole swarm systems, overcoming the shortcoming of existing formation-containment control approaches, i.e., they cannot be used to get an effective control of the macroscopic movement of the whole system. Considering the influences of switching topologies, a distributed formation-containment tracking protocol and a multi-step design algorithm are proposed based on the robust adaptive estimation approach and the predefined containment control strategy. With inter-layer coordination couplings, sufficient conditions for achieving formation-containment tracking by the heterogeneous swarm systems with switching typologies are given using the common Lyapunov stability theory. A simulation example for a group of unmanned aerial vehicles and unmanned ground vehicles is given to verify the effectiveness of the proposed controller.

Key words: heterogeneous swarm systems, formation control, containment control, tracking control, distributed control, switching topology

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