ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Predefined-time affine formation maneuvering control for fixed-wing UAV swarm
Received date: 2025-01-20
Revised date: 2025-02-27
Accepted date: 2025-03-17
Online published: 2025-03-28
Supported by
National Natural Science Foundation of China(U20B2001);Aeronautical Science Foundation of China(2024Z023077001)
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.
Chao YAN , Zexu ZHANG , Hutao CUI , Kai ZHANG , Jingzong LIU . Predefined-time affine formation maneuvering control for fixed-wing UAV swarm[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2025 , 46(22) : 331824 -331824 . DOI: 10.7527/S1000-6893.2024.31824
| [1] | 赵创新， 遆好建， 李照宏， 等. 多无人机协同编队控制及试飞验证［J］. 航空学报， 2024， 45（17）： 530249. |
| ZHAO C X， TI H J， LI Z H， et al. Multi-UAV cooperative formation control and flight test verification［J］. Acta Aeronautica et Astronautica Sinica， 2024， 45（17）： 530249 （in Chinese）. | |
| [2] | 柳汀， 周国鑫， 徐扬， 等. 融合信息图的优化哈里斯鹰多无人机动态目标搜索［J］. 航空学报， 2024， 45（S1）： 730773. |
| LIU T， ZHOU G X， XU Y， et al. Optimization of fusion information map Harris eagle multi-UAV dynamic target search［J］. Acta Aeronautica et Astronautica Sinica， 2024， 45（S1）： 730773 （in Chinese）. | |
| [3] | 严超， 张泽旭， 袁帅， 等. GNSS拒止下面向目标监视的多无人机定位与控制方法［J］. 宇航学报， 2023， 44（10）： 1534-1543. |
| YAN C， ZHANG Z X， YUAN S， et al. Multi-UAV localization and control method for target surveillance with GNSS denied［J］. Journal of Astronautics， 2023， 44（10）： 1534-1543 （in Chinese）. | |
| [4] | 尹洪玉， 吴宇， 梁天骄. 固定翼无人机巡逻覆盖协同路径规划方法［J］. 航空学报， 2024， 45（6）： 328944. |
| YIN H Y， WU Y， LIANG T J. Cooperative path planning for patrol coverage of fixed wing UAV［J］. Acta Aeronautica et Astronautica Sinica， 2024， 45（6）： 328944 （in Chinese）. | |
| [5] | ZHAO S Y. Affine formation maneuver control of multiagent systems［J］. IEEE Transactions on Automatic Control， 2018， 63（12）： 4140-4155. |
| [6] | ZHANG Y W， LI S S， WANG S P， et al. Distributed bearing-based formation maneuver control of fixed-wing UAVs by finite-time orientation estimation［J］. Aerospace Science and Technology， 2023， 136： 108241. |
| [7] | CHEN L M， MEI J， LI C J， et al. Distributed leader-follower affine formation maneuver control for high-order multiagent systems［J］. IEEE Transactions on Automatic Control， 2020， 65（11）： 4941-4948. |
| [8] | DIMAROGONAS D V， KYRIAKOPOULOS K J. A connection between formation infeasibility and velocity alignment in kinematic multi-agent systems［J］. Automatica， 2008， 44（10）： 2648-2654. |
| [9] | GARCIA DE MARINA H， JAYAWARDHANA B， CAO M. Distributed rotational and translational maneuvering of rigid formations and their applications［J］. IEEE Transactions on Robotics， 2016， 32（3）： 684-697. |
| [10] | ZHAO S Y， ZELAZO D. Translational and scaling formation maneuver control via a bearing-based approach［J］. IEEE Transactions on Control of Network Systems， 2017， 4（3）： 429-438. |
| [11] | HAN T R， LIN Z Y， ZHENG R H， et al. A barycentric coordinate-based approach to formation control under directed and switching sensing graphs［J］. IEEE Transactions on Cybernetics， 2018， 48（4）： 1202-1215. |
| [12] | LIN Z Y， WANG L L， HAN Z M， et al. Distributed formation control of multi-agent systems using complex Laplacian［J］. IEEE Transactions on Automatic Control， 2014， 59（7）： 1765-1777. |
| [13] | LIN Z Y， WANG L L， CHEN Z Y， et al. Necessary and sufficient graphical conditions for affine formation control［J］. IEEE Transactions on Automatic Control， 2016， 61（10）： 2877-2891. |
| [14] | XU Y， ZHAO S Y， LUO D L， et al. Affine formation maneuver control of high-order multi-agent systems over directed networks［J］. Automatica， 2020， 118： 109004. |
| [15] | LI D Y， MA G F， XU Y， et al. Layered affine formation control of networked uncertain systems： A fully distributed approach over directed graphs［J］. IEEE Transactions on Cybernetics， 2021， 51（12）： 6119-6130. |
| [16] | LIN Y J， LIN Z Y， SUN Z Y， et al. A unified approach for finite-time global stabilization of affine， rigid， and translational formation［J］. IEEE Transactions on Automatic Control， 2021， 67（4）： 1869-1881. |
| [17] | POLYAKOV A. Nonlinear feedback design for fixed-time stabilization of linear control systems［J］. IEEE Transactions on Automatic Control， 2012， 57（8）： 2106-2110. |
| [18] | WANG J N， DING X J， WANG C Y， et al. Affine formation control for multi-agent systems with prescribed convergence time［J］. Journal of the Franklin Institute， 2021， 358（14）： 7055-7072. |
| [19] | GAO K， LIU Y F， ZHOU Y， et al. Practical fixed-time affine formation for multi-agent systems with time-based generators［J］. IEEE Transactions on Circuits and Systems Ⅱ： Express Briefs， 2022， 69（11）： 4433-4437. |
| [20] | WANG Y J， SONG Y D， HILL D J， et al. Prescribed-time consensus and containment control of networked multiagent systems［J］. IEEE Transactions on Cybernetics， 2019， 49（4）： 1138-1147. |
| [21] | DING T F， GE M F， XIONG C H， et al. Prescribed-time formation tracking of second-order multi-agent networks with directed graphs［J］. Automatica， 2023， 152： 110997. |
| [22] | NING B D， HAN Q L， ZUO Z Y. Practical fixed-time consensus for integrator-type multi-agent systems： A time base generator approach［J］. Automatica， 2019， 105： 406-414. |
| [23] | ZHAO Y， GAO K， HUANG P F， et al. Specified-time affine formation maneuver control of multiagent systems over directed networks［J］. IEEE Transactions on Automatic Control， 2024， 69（3）： 1936-1943. |
| [24] | TANG C C， ZHANG H T， CAO H S， et al. Time-varying formation control of autonomous surface vehicles based on affine observer［J］. IEEE Transactions on Industrial Electronics， 2024， 71（10）： 12952-12963. |
| [25] | QIN B Y， ZHANG D， TANG S， et al. Three-dimensional distributed affine formation maneuver control of fixed-wing UAV swarm with actuator faults and saturation constraints［C］∥2023 Asia-Pacific International Symposium on Aerospace Technology （APISAT 2023） Proceedings. Singapore： Springer Nature Singapore， 2024： 1278-1296. |
| [26] | XU Y， QU Y F， LUO D L， et al. Distributed predefined-time estimator-based affine formation target-enclosing maneuver control for cooperative underactuated quadrotor UAVs with fault-tolerant capabilities［J］. Chinese Journal of Aeronautics， 2025， 38（1）： 103042. |
| [27] | ZUO Z Y， LIU C J， HAN Q L， et al. Unmanned aerial vehicles： Control methods and future challenges［J］. IEEE/CAA Journal of Automatica Sinica， 2022， 9（4）： 601-614. |
| [28] | WU Z H， NI J K， QIAN W， et al. Composite prescribed performance control of small unmanned aerial vehicles using modified nonlinear disturbance observer［J］. ISA Transactions， 2021， 116： 30-45. |
| [29] | HUANG D Q， HUANG T P， QIN N， et al. Finite-time control for a UAV system based on finite-time disturbance observer［J］. Aerospace Science and Technology， 2022， 129： 107825. |
| [30] | LIU K， WANG R J， ZHENG S J， et al. Fixed-time disturbance observer-based robust fault-tolerant tracking control for uncertain quadrotor UAV subject to input delay［J］. Nonlinear Dynamics， 2022， 107（3）： 2363-2390. |
| [31] | ZHAO S L， ZHENG J Y， YI F， et al. Exponential predefined time trajectory tracking control for fixed-wing UAV with input saturation［J］. IEEE Transactions on Aerospace and Electronic Systems， 2024， 60（5）： 6406-6419. |
| [32] | 马骥， 陈向勇， 温广辉， 等. 随机切换拓扑下无人机集群预设时间跟踪控制［J］. 航空学报， 2024， 45（S1）： 730793. |
| MA J， CHEN X Y， WEN G H， et al. Preset time trac control of UAV cluster unde random switching topology［J］. Acta Aeronautica et Astronautica Sinica， 2024， 45（S1）： 730793 （in Chinese）. | |
| [33] | CHEN M， GE S S， REN B B. Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints［J］. Automatica， 2011， 47（3）： 452-465. |
| [34] | HU Q L， SHAO X D， ZHANG Y M， et al. Nussbaum-type function-based attitude control of spacecraft with actuator saturation［J］. International Journal of Robust and Nonlinear Control， 2018， 28（8）： 2927-2949. |
| [35] | LIU B J， GUO Y， LI A J. Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints［J］. Aerospace Science and Technology， 2023， 139： 108407. |
| [36] | LIU B J， GUO Y， LI A J， et al. Distributed nussbaum-based finite-time containment control for multi-UAVs with actuator saturation and faults［J］. IEEE Transactions on Aerospace and Electronic Systems， 2022， 59（4）： 3505-3520. |
| [37] | XU Y， ZHAO S Y， LUO D L， et al. Affine formation maneuver control of multi-agent systems with directed interaction graphs［C］∥2018 37th Chinese Control Conference （CCC）. Piscataway： IEEE Press， 2018： 4563-4568. |
| [38] | WEN C Y， ZHOU J， LIU Z T， et al. Robust adaptive control of uncertain nonlinear systems in the presence of input saturation and external disturbance［J］. IEEE Transactions on Automatic Control， 2011， 56（7）： 1672-1678. |
| [39] | HU Q L， SHAO X D， GUO L. Adaptive fault-tolerant attitude tracking control of spacecraft with prescribed performance［J］. IEEE/ASME Transactions on Mechatronics， 2018， 23（1）： 331-341. |
| [40] | XIE S Z， CHEN Q. Predefined-time disturbance estimation and attitude control for rigid spacecraft［J］. IEEE Transactions on Circuits and Systems Ⅱ： Express Briefs， 2024， 71（4）： 2089-2093. |
| [41] | WANG C L， LIN Y. Decentralized adaptive tracking control for a class of interconnected nonlinear time-varying systems［J］. Automatica， 2015， 54： 16-24. |
| [42] | ARAKI M， KONDO B. Stability and transient behavior of composite nonlinear systems［J］. IEEE Transactions on Automatic Control， 1972， 17（4）： 537-541. |
/
| 〈 |
|
〉 |
CJA