2022, Volume 23, Issue 6
Frontiers of Information Technology & Electronic Engineering >> 2022, Volume 23, Issue 6 doi: 10.1631/FITEE.2100109
Affine formation tracking control of unmanned aerial vehicles
国防科技大学智能科学学院，中国长沙市，410073
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Abstract
The tracking problem for (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 tracking control strategy in improving maneuverability.
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