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Journal of Zhejiang University SCIENCE C 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/FITEE.2100109


Affine formation tracking control of unmanned aerial vehicles


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

Affiliation(s):  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, 1998, -1(-1): .

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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 the 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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