Finite-Time Anti-Saturated Formation Tracking Control of Multiple Unmanned Aerial Vehicles: A Performance Tuning Way

Taoyi Chen, Yaolin Lei (), Huixiang Peng, Yanqiao Chen, Xinghua Chai and Zeyong Zhang
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Taoyi Chen: The 54th Research Institute of CETC, Shijiazhuang 050081, China
Yaolin Lei: The 54th Research Institute of CETC, Shijiazhuang 050081, China
Huixiang Peng: The 54th Research Institute of CETC, Shijiazhuang 050081, China
Yanqiao Chen: The 54th Research Institute of CETC, Shijiazhuang 050081, China
Xinghua Chai: The 54th Research Institute of CETC, Shijiazhuang 050081, China
Zeyong Zhang: The 54th Research Institute of CETC, Shijiazhuang 050081, China

Mathematics, 2023, vol. 11, issue 20, 1-24

Abstract: A highly effective control method is very important to guarantee the safety of the formation of flying missions for multiple unmanned aerial vehicles (UAVs), especially in the presence of complex flying environments and actuator constraints. In this regard, this paper investigates the formation tracking control problem of multiple UAVs in the presence of actuator saturation. Firstly, a brand-novel finite-time anti-saturated control scheme is proposed for multiple UAVs to track the desired position commands, wherein the tracking performance is tuned by introducing a logarithmic function-based state-mapping policy. Then, an adaptive scheme based on projection rules is devised to compensate for the negative effects brought by the actuator saturation. Based on the proposed formation tracking controller, the finite-time formation tracking performance tuning and control saturation problems can be addressed simultaneously with a comparatively allowable system robustness. Finally, three groups of illustrative examples are organized to verify the effectiveness of the proposed formation tracking control scheme.

Keywords: unmanned aerial vehicles; actuator saturation; performance tuning control; finite-time control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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