Distributed Control for Coordinated Tracking of Fixed-Wing Unmanned Aerial Vehicles under Model Uncertainty and Disturbances

Abstract

In this paper, we consider a control problem where a group of fixed-wing unmanned aerial vehicles (UAVs) with uncertain dynamics tracks the target vehicle cooperatively in the case of external disturbance. Based on the Gaussian process regression, a data-driven model is established, whose uniform error is bounded with probability. Then a learning-based consensus protocol for multi-UAVs is designed. The stability of the system is proven via Lyapunov function, and the tracking error is guaranteed to be bounded with a high probability. Finally, the effectiveness of the proposed method is shown in the numerical simulation.

New Trends in the Control of Robots and Mechatronic Systems

“…Moving from water to air, paper [18] discusses the application of distributed control of a fixed-wing unmanned aerial vehicle (UAV) for coordinated tracking under model uncertainty and disturbances. Based on the gaussian process regression, a data-driven model is established.…”