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CLC number: TP273

On-line Access: 2022-06-17

Received: 2021-02-28

Revision Accepted: 2022-07-05

Crosschecked: 2021-08-24

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Citations:  Bibtex RefMan EndNote GB/T7714


Huiming LI




Xiangke WANG


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Frontiers of Information Technology & Electronic Engineering  2022 Vol.23 No.6 P.909-919


Affine formation tracking control of unmanned aerial vehicles

Author(s):  Huiming LI, Hao CHEN, Xiangke WANG

Affiliation(s):  College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China

Corresponding email(s):   huiminglhm@163.com, chenhao09@nudt.edu.cn, xkwang@nudt.edu.cn

Key Words:  Affine formation, Fixed-wing unmanned aerial vehicles, Multi-agent system

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.

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journal="Frontiers of Information Technology & Electronic Engineering",
publisher="Zhejiang University Press & Springer",

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%DOI 10.1631/FITEE.2100109

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
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DOI - 10.1631/FITEE.2100109

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.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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