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Time-varying Formation Finite-time Tracking Control for Multi-UAV Systems under Jointly Connected Topologies
Xiong Tianyi1,2; Pu Zhiqiang1; Yi Jianqiang1,2
Source PublicationInternational Journal of Intelligent Computing and Cybernetics
2017
Volume4Issue:10Pages:478-490
SubtypeResearch paper
Abstract

Purpose- This paper aims to investigate time-varying finite-time formation tracking control problem for multiple unmanned aerial vehicle (multi-UAV) systems under switching topologies, where the states of the UAVs need to form a desired time-varying formations while tracking the trajectory of the virtual leader in finite time under jointly connected topologies.
Design/Methodology/Approach- A consensus-based formation control protocol is constructed to achieve the desired formation. In this paper, the time-varying formation is specified by a piecewise continuously differentiable vector, while the finite-time convergence is guaranteed by utilizing a nonlinear function. Based on graph theory, the finite time stability of the close-loop system with the proposed control protocol under jointly connected topologies is proven by applying LaSalle’s invariance principle and the theory of homogeneity with dilation.
Findings- The effectiveness of the proposed protocol is verified by numerical simulations. Consequently, the proposed protocol can successfully achieve the predefined time-varying formation in finite time under jointly connected topologies while tracking the trajectory generated by the leader.
Originality/value- This paper proposes a solution to simultaneously solve the control problems of time-varying formation tracking, finite-time convergence, and switching topologies.

KeywordMulti-uav System Formation Tracking Control Finite Time Jointly Connected Topologies
Indexed ByEI
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23660
Collection综合信息系统研究中心
Corresponding AuthorPu Zhiqiang
Affiliation1.Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Xiong Tianyi,Pu Zhiqiang,Yi Jianqiang. Time-varying Formation Finite-time Tracking Control for Multi-UAV Systems under Jointly Connected Topologies[J]. International Journal of Intelligent Computing and Cybernetics,2017,4(10):478-490.
APA Xiong Tianyi,Pu Zhiqiang,&Yi Jianqiang.(2017).Time-varying Formation Finite-time Tracking Control for Multi-UAV Systems under Jointly Connected Topologies.International Journal of Intelligent Computing and Cybernetics,4(10),478-490.
MLA Xiong Tianyi,et al."Time-varying Formation Finite-time Tracking Control for Multi-UAV Systems under Jointly Connected Topologies".International Journal of Intelligent Computing and Cybernetics 4.10(2017):478-490.
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