CLC number: TP273
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2021-08-24
Cited: 0
Clicked: 5005
Citations: Bibtex RefMan EndNote GB/T7714
https://orcid.org/0000-0002-5142-5151
Huiming LI, Hao CHEN, Xiangke WANG. Affine formation tracking control of unmanned aerial vehicles[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(6): 909-919.
@article{title="Affine formation tracking control of unmanned aerial vehicles",
author="Huiming LI, Hao CHEN, Xiangke WANG",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="23",
number="6",
pages="909-919",
year="2022",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2100109"
}
%0 Journal Article
%T Affine formation tracking control of unmanned aerial vehicles
%A Huiming LI
%A Hao CHEN
%A Xiangke WANG
%J Frontiers of Information Technology & Electronic Engineering
%V 23
%N 6
%P 909-919
%@ 2095-9184
%D 2022
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.2100109
TY - JOUR
T1 - Affine formation tracking control of unmanned aerial vehicles
A1 - Huiming LI
A1 - Hao CHEN
A1 - Xiangke WANG
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 23
IS - 6
SP - 909
EP - 919
%@ 2095-9184
Y1 - 2022
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.2100109
Abstract: The affine formation tracking problem for fixed-wing unmanned aerial vehicles (UAVs) is considered in this paper, where fixed-wing UAVs are modeled as unicycle-type agents with asymmetrical speed constraints. A group of UAVs are required to generate and track a time-varying target formation obtained by affinely transforming a nominal formation. To handle this problem, a distributed control law based on stress matrix is proposed under the leader-follower control scheme. It is proved, theoretically, that followers can converge to the desired positions and achieve affine transformations while tracking diverse trajectories. Furthermore, a saturated control strategy is proposed to meet the speed constraints of fixed-wing UAVs, and numerical simulations are executed to verify the effectiveness of our proposed affine formation tracking control strategy in improving maneuverability.
[1]Beard RW, Ferrin J, Humpherys J, 2014. Fixed wing UAV path following in wind with input constraints. IEEE Trans Contr Syst Technol, 22(6):2103-2117.
[2]Chen H, Wang XK, Shen LC, et al., 2021. Formation flight of fixed-wing UAV swarms: a group-based hierarchical approach. Chin J Aeronaut, 34(2):504-515.
[3]Chen LM, Mei J, Li CJ, et al., 2020. Distributed leader-follower affine formation maneuver control for high-order multiagent systems. IEEE Trans Autom Contr, 65(11):4941-4948.
[4]Connelly R, 2005. Generic global rigidity. Disc Comput Geom, 33(4):549-563.
[5]Fathian K, Summers TH, Gans NR, 2018. Distributed formation control and navigation of fixed-wing UAVs at constant altitude. Int Conf on Unmanned Aircraft Systems, p.300-307.
[6]Lin YJ, Lin ZY, Sun ZY, et al., 2021. A unified approach for finite-time global stabilization of affine, rigid and translational formation. IEEE Trans Autom Contr, early access.
[7]Lin ZY, Wang LL, Chen ZY, et al., 2016. Necessary and sufficient graphical conditions for affine formation control. IEEE Trans Autom Contr, 61(10):2877-2891.
[8]Liu ZH, Wang XK, Shen LC, et al., 2020. Mission-oriented miniature fixed-wing UAV swarms: a multilayered and distributed architecture. IEEE Trans Syst Man Cybern Syst, 52(3):1588-1602.
[9]Miao ZQ, Liu YH, Wang YN, et al., 2018. Distributed estimation and control for leader-following formations of nonholonomic mobile robots. IEEE Trans Autom Sci Eng, 15(4):1946-1954.
[10]Oh KK, Park MC, Ahn HS, 2015. A survey of multi-agent formation control. Automatica, 53:424-440.
[11]Onuoha O, Tnunay H, Ding ZT, 2019a. Affine formation maneuver control of multi-agent systems with triple-integrator dynamics. American Control Conf, p.5334-5339.
[12]Onuoha O, Tnunay H, Li ZH, et al., 2019b. Optimal affine formation control of linear multi-agent system. IEEE 15th Int Conf on Control and Automation, p.851-856.
[13]Paranjape AA, Chung SJ, Kim K, et al., 2018. Robotic herding of a flock of birds using an unmanned aerial vehicle. IEEE Trans Robot, 34(4):901-915.
[14]Ren W, Beard RW, Atkins EM, 2007. Information consensus in multivehicle cooperative control. IEEE Contr Syst Mag, 27(2):71-82.
[15]Wang XK, Shen LC, Liu ZH, et al., 2019. Coordinated flight control of miniature fixed-wing UAV swarms: methods and experiments. Sci China Inform Sci, 62(11):212204.
[16]Wang YZ, Shan M, Wang DW, 2020. Motion capability analysis for multiple fixed-wing UAV formations with speed and heading rate constraints. IEEE Trans Contr Netw Syst, 7(2):977-989.
[17]Wu S, 2013. Aircraft motion equation. In: Song SJ (Ed.), Aircraft Fight Control System. Beihang University Press, Beijing, China (in Chinese).
[18]Xu Y, Zhao SY, Luo DL, et al., 2018. Affine formation maneuver control of linear multi-agent systems with undirected interaction graphs. IEEE Conf on Decision and Control, p.502-507.
[19]Xu Y, Li DY, Luo DL, et al., 2019a. Affine formation maneuver tracking control of multiple second-order agents with time-varying delays. Sci China Technol Sci, 62(4):665-676.
[20]Xu Y, Luo DL, Li DY, et al., 2019b. Target-enclosing affine formation control of two-layer networked spacecraft with collision avoidance. Chin J Aeronaut, 32(12):2679-2693.
[21]Xu Y, Li DY, Luo DL, et al., 2019c. Two-layer distributed hybrid affine formation control of networked Euler-Lagrange systems. J Franklin Inst, 356(4):2172-2197.
[22]Xu Y, Lin ZY, Zhao SY, 2020. Distributed affine formation tracking control of multiple fixed-wing UAVs. 39th Chinese Control Conf, p.4712-4717.
[23]Zhao SL, Wang XK, Lin ZY, et al., 2020. Integrating vector field approach and input-to-state stability curved path following for unmanned aerial vehicles. IEEE Trans Syst Man Cybern Syst, 50(8):2897-2904.
[24]Zhao SY, 2018. Affine formation maneuver control of multiagent systems. IEEE Trans Autom Contr, 63(12):4140-4155.
Open peer comments: Debate/Discuss/Question/Opinion
<1>