The UAVs formation Tracking Control with Obstacle Avoidance and Distributed Prescribed Performance

被引：0

作者：

Xiong, Shixun ^{[1
]}

Zhang, Luo ^{[2
]}

Chen, Mengting ^{[1
]}

Chen, Xiangyu ^{[3
]}

Ge, Yaxin ^{[3
]}

机构：

[1] Nanjing Univ Posts & Telecommun, Sch Internet Things, Nanjing, Peoples R China

[2] Nanjing Res Inst Elect Engn, Nanjing, Peoples R China

[3] Nanjing Univ Posts & Telecommun, Sch Telecommun & Informat Engn, Nanjing, Peoples R China

来源：

2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2023年

关键词：

UAVs formation; obstacle avoidance; distributed prescribed performance; tracking control;

D O I：

10.1109/CCDC58219.2023.10326993

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates a distributed robust tracking control under obstacle avoidance constraints and unknown external disturbance for unmanned aerial vehicles (UAVs) formation. First, a formation cooperative control model with UAV system under top view is established. Second, to solve the internal obstacle avoidance, a distributed prescribed performance function is presented to design the restricted movement regions to guarantee the trajectory of each system moving within a prescribed region. Through constructing the state auxiliary variables of the adjacent information of the UAVs formation under the prescribed performance function and directed topology, a distributed robust tracking control scheme is studied to perform formation tracking with unknown external disturbance and obstacle avoidance. Finally, simulations illustrate the effectiveness of the approach.

引用

页码：2791 / 2796

页数：6

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