Regular Papers

International Journal of Control, Automation and Systems 2021; 19(5): 1760-1773

Published online March 30, 2021

https://doi.org/10.1007/s12555-019-0833-7

© The International Journal of Control, Automation, and Systems

Event-triggered Finite-time Formation Control for Multiple Unmanned Aerial Vehicles with Input Saturation

Pan Yang, An Zhang*, and Ding Zhou

Northwestern Polytechnical University

Abstract

Considering formation control of multi-UAV system subject to input saturation, the issue of achieving predefined configuration in a distributed finite-time event-triggered scheme is investigated. Precise feedback linearization based on differential geometry theory is utilized to linearize the nonlinear motion model of unmanned aerial vehicles. A fixed-time convergent observer is skillfully constructed to estimate the leader’s velocity information with accuracy and quickness. A novel distributed event-triggered finite-time formation control protocol incorporated by saturation functions is proposed to achieve the desired formation in finite time. An estimation of the finite-settling time is conducted by subtly constructing the Lyapunov function. Rigorous proof shows the finite-time stability of the formation control algorithm, boundedness of the control inputs and non-existence of the unexpected Zeno behavior. Numerical simulations are performed to demonstrate the effectuality of the theoretical results.

Keywords Event-triggered, finite-time, formation control, input saturation, settling time estimation.

Article

Regular Papers

International Journal of Control, Automation and Systems 2021; 19(5): 1760-1773

Published online May 1, 2021 https://doi.org/10.1007/s12555-019-0833-7

Copyright © The International Journal of Control, Automation, and Systems.

Event-triggered Finite-time Formation Control for Multiple Unmanned Aerial Vehicles with Input Saturation

Pan Yang, An Zhang*, and Ding Zhou

Northwestern Polytechnical University

Abstract

Considering formation control of multi-UAV system subject to input saturation, the issue of achieving predefined configuration in a distributed finite-time event-triggered scheme is investigated. Precise feedback linearization based on differential geometry theory is utilized to linearize the nonlinear motion model of unmanned aerial vehicles. A fixed-time convergent observer is skillfully constructed to estimate the leader’s velocity information with accuracy and quickness. A novel distributed event-triggered finite-time formation control protocol incorporated by saturation functions is proposed to achieve the desired formation in finite time. An estimation of the finite-settling time is conducted by subtly constructing the Lyapunov function. Rigorous proof shows the finite-time stability of the formation control algorithm, boundedness of the control inputs and non-existence of the unexpected Zeno behavior. Numerical simulations are performed to demonstrate the effectuality of the theoretical results.

Keywords: Event-triggered, finite-time, formation control, input saturation, settling time estimation.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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