Circular Formation Flight Control for Unmanned Aerial Vehicles With Directed Network and External Disturbance

doi:10.1109/JAS.2019.1911669

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	Circular Formation Flight Control for Unmanned Aerial Vehicles With Directed Network and External Disturbance
	Yangyang Chen; Rui Yu; Ya Zhang; Chenglin Liu
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:2 页码:505-516
摘要	This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles (UAVs) to perform coordinated circular tracking around a set of circles on a target sphere. Different from the previous results limited in bidirectional networks and disturbance-free motions, this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper bound. Distinguishing from the design of a common Lyapunov function for bidirectional cases, we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as input. Then the whole control system is regarded as a cascade connection of these two subsystems, which is proved to be stable by input-to-state stability (ISS) theory. For the purpose of encountering the external disturbance, the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere (say, the circular tracking control algorithm) with the help of the switching function. Meanwhile, the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere (say, the formation keeping control law) for formation keeping. The validity of the proposed control law is proved both in the rigorous theory and through numerical simulations.
关键词	Directed network external disturbance flight control unmanned aerial vehicles (UAVs)
DOI	10.1109/JAS.2019.1911669
引用统计	被引频次：49[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42960
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yangyang Chen,Rui Yu,Ya Zhang,et al. Circular Formation Flight Control for Unmanned Aerial Vehicles With Directed Network and External Disturbance[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(2):505-516.
APA	Yangyang Chen,Rui Yu,Ya Zhang,&Chenglin Liu.(2020).Circular Formation Flight Control for Unmanned Aerial Vehicles With Directed Network and External Disturbance.IEEE/CAA Journal of Automatica Sinica,7(2),505-516.
MLA	Yangyang Chen,et al."Circular Formation Flight Control for Unmanned Aerial Vehicles With Directed Network and External Disturbance".IEEE/CAA Journal of Automatica Sinica 7.2(2020):505-516.

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