Design and verification of bounded tracking control method for multi-unmanned aerial vehicle

被引：0
|
作者：
Lin H. [1 ,2 ]
Liang X. [1 ,2 ]
Fang Y.-C. [1 ,2 ]
Zhang P. [1 ,2 ]
机构：
[1] Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin
[2] Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2021年 / 38卷 / 09期
基金：
美国国家科学基金会; 中国国家自然科学基金;
关键词：
Bounded tracking; Energy analysis; Experimental verification; Multi-UAV;
D O I：
10.7641/CTA.2021.00125
中图分类号：
学科分类号：
摘要：
Aiming at the control and safety problems in multi-unmanned aerial vehicle (UAV) trajectory tracking, this paper presents a bounded tracking control method for quadrotors. This method guarantees that vehicles limit their own movements within a specified range while performing trajectory tracking. In this paper, specific forms of controller are designed by means of energy analysis, and the boundedness and convergence characteristics of the system error are proved based on the Lyapunov stability analysis. On this basis, by designing and building an indoor multi-UAV experimental platform, an real-time trajectory tracking experiment of multi-UAV is carried out, and the performance of the controller is verified. The experimental results show that the proposed method not only has good dynamic characteristics, but also can effectively avoid the collision caused by UAVs crossing the safe boundary, which has better safety and robustness. © 2021, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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页码：1324 / 1332
页数：8
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