ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Formation-containment tracking control for heterogeneous unmanned swarm systems with switching topologies
Received date: 2021-10-11
Revised date: 2021-10-24
Accepted date: 2021-11-26
Online published: 2021-12-09
Supported by
National Natural Science Foundation of China(62103023);Young Elite Scientists Sposorship Program by CAST(2021QNRC001)
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.
Zhiqiang WEI , Zheming WENG , Yongzhao HUA , Xiwang DONG , Zhang REN . Formation-containment tracking control for heterogeneous unmanned swarm systems with switching topologies[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(2) : 326504 -326504 . DOI: 10.7527/S1000-6893.2021.26504
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