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CLC number: TP273

On-line Access: 2022-06-17

Received: 2021-02-28

Revision Accepted: 2022-06-20

Crosschecked: 2021-08-24

Cited: 0

Clicked: 2308

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Huiming LI

https://orcid.org/0000-0002-5142-5151

Hao CHEN

https://orcid.org/0000-0002-7567-0063

Xiangke WANG

https://orcid.org/0000-0002-5074-7052

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

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):  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",
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doi="10.1631/FITEE.2100109"
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T1 - Affine formation tracking control of unmanned aerial vehicles
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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 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.

无人机仿射编队跟踪控制研究

李慧铭,陈浩,王祥科
国防科技大学智能科学学院,中国长沙市,410073
摘要:本文聚焦固定翼无人机集群仿射编队跟踪控制问题,其中固定翼无人机被建模为具有非对称速度约束的独轮车。无人机集群控制目标是生成并跟踪一个由名义编队仿射变换得到的时变目标编队。针对这一目标,在领航跟随者编队控制框架下,提出一种基于应力矩阵的分布式编队控制策略,并从理论上证明,跟随者在跟踪不同飞行轨迹的同时,能够收敛到由领航者位置决定的期望位置,实现编队队形的仿射变换。进一步,为满足固定翼无人机飞行速度约束,提出一种基于饱和函数的控制策略。数值仿真结果证实,所提仿射编队控制策略能有效提高机动性。

关键词:仿射编队;固定翼无人机;多智能体系统

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

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