ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Robust safe control for multi⁃UAV formation flight through narrow corridors
Received date: 2023-10-26
Revised date: 2023-11-13
Accepted date: 2023-12-07
Online published: 2023-12-26
Supported by
National Natural Science Foundation of China(62103451);Central University Research Fund Project(22qntd0702);Industry-university-research Fund Project of Ministry of Education(2021ZYA02017)
When multi-UAV formation flies through narrow corridors， UAVs will be influenced by external disturbances such as ground effect and downwash to result in out of control and crash of the vehicles and other security risks. To solve this problem， a safe and robust algorithm based on the vector field and the Uncertainty and Disturbance Estimator （UDE） is proposed by considering upper-formation planning and low-level control simultaneously. At the formation planning level， a vector field-based formation control method is designed to ensure collision avoidance. Meanwhile， due to the space constraint and smaller distance between UAVs， UAVs are more severely affected by ground effect， downwash between UAVs and other wind disturbances during the passage. These external disturbances lead to safety risks such as loss of control and crashes. To address this issue， an Uncertainty and Disturbance Estimator-based （UDE-based） controller is designed to improve the stability and robustness of UAVs’ low-level control. Finally， the proposed algorithms are verified on the simulation platform， and the performance of the UAVs formation in different sizes of narrow corridors is evaluated.
Kunda LIU , Xueming LIU , Bo ZHU , Qingrui ZHANG . Robust safe control for multi⁃UAV formation flight through narrow corridors[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(S2) : 729768 -729768 . DOI: 10.7527/S1000-6893.2023.29768
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