Formation flight of fixed-wing UAV swarms: A group-based hierarchical approach

Chen, Hao; Wang, Xiangke; Shen, Lincheng; Cong, Yirui

doi:10.1016/j.cja.2020.03.006

Cited by 64 publications

(23 citation statements)

References 40 publications

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“…[9]- [11], [21], [31], [32], an adaptive backstepping control is proposed with the help of bound estimation approach and well-defined smooth functions to effectively compensate for the actuator faults, external disturbances, and model uncertainties in the same time with the guarantee of global stability.…”

Section: B Main Contributionmentioning

confidence: 99%

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Zhang

Sun

et al. 2022

IEEE Systems Journal

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In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein material points or only attitude/longitudinal dynamics are considered, this article proposes a distributed fixed-time fault-tolerant control methodology for networked fixed-wing UAVs whose dynamics are six-degree-offreedom with twelf-state-variables subject to actuator faults and full-state constraints. More precisely, state transformations with the scaling function are devised to keep the involved velocity and attitude within their corresponding constraints. The fixed-time property is obtained in the sense of guaranteeing that the settling time is lower bounded by a positive constant, which is independent of initial states. The actuator faults as well as the network induced errors are handled via the bound estimation approach and well-defined smooth functions. By strict Lyapunov arguments, all closed-loop signals are proved to be semiglobally uniformly ultimately bounded, and the tracking errors of velocity and attitude converge to the residual sets around origin within a fixed time.

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Section: B Main Contributionmentioning

confidence: 99%

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Zhang

Sun

et al. 2022

IEEE Systems Journal

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“…Remark Note that the system dynamics described by (1) is widely used in the control of the wheeled robots [37], the UUVs [38], and the UAVs [39]. As a consequence, the method proposed in this paper can be applied to the cooperative circumnavigation control of a wide range of robots.…”

Section: Notations and Problem Formulationmentioning

confidence: 99%

Cooperative circumnavigation control of multiple unicycle‐type robots with non‐identical input constraints

Miao

Wang

2022

IET Control Theory & Appl

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For the robot control problems, the input constraint is an issue that must be carefully considered. Considering the control inputs of the robots in the multi-robot system are constrained by different saturations in reality, we address the cooperative circumnavigation control problem of multiple unicycle-type robots with non-identical and unknown input constraints in this paper. A distributed control law is designed to drive the robots constrained by different and unknown input saturations to achieve the cooperative circumnavigation around a moving target. The algorithm proposed in this paper largely reduces the requirement for the maneuverability of the robots to achieve the cooperative circumnavigation. As long as the robots owns the basic maneuverability of circumnavigating around the target, it is proved rigorously that the proposed control algorithm can achieve the desired cooperation circumnavigation of the multi-robot system. The effectiveness of the proposed method is validated by a numerical simulation.

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“…Chen et al [12] addressed the problem of formation control of fixed-wing UAVs swarm at a constant altitude. A group-based hierarchical architecture was generated among the UAVs.…”

Section: Introductionmentioning

confidence: 99%

Flight Trajectories Optimization of Fixed-Wing UAV by Bank-Turn Mechanism

Machmudah

Shanmugavel

Parman

et al. 2022

Drones

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This paper addresses an optimization of Unmanned Aerial Vehicle (UAV) flight trajectories by bank-turn mechanism for a fixed-wing UAV at a constant altitude. The flight trajectories should be optimal and stay in the UAV flight operational area. The maneuver planning is conducted in two steps, which are UAV path planning and UAV flight trajectory planning. For the first step, the Bezier curve is employed as a maneuvering path. The path planning optimization objective is to minimize the path length while satisfying maximum curvature and collision avoidance constraints. The flight trajectories optimization objective is to minimize maneuvering time and load factor considering, minimum/maximum speed, minimum/maximum acceleration, maximum roll angle, maximum turn rate, and aerodynamics constraints. The variable speed trajectory generation is developed within allowable speed zone considering these UAV flight constraints by employing meta-heuristic optimizations. Results show that the PSO have outperformed the GA and the GWO for both steps of path planning and trajectory planning. The variable speed has succeeded in reducing the load factor during the bank-turn mechanism using the Bezier curve. The variable speed is recommended to be conducted when the result of the maneuvering path involve the lower turning radius. A simultaneous on arrival target mission has also succeeded to be conducted using the combination of the variable speed and constant speed strategies.

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Formation flight of fixed-wing UAV swarms: A group-based hierarchical approach

Cited by 64 publications

References 40 publications

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Cooperative circumnavigation control of multiple unicycle‐type robots with non‐identical input constraints

Flight Trajectories Optimization of Fixed-Wing UAV by Bank-Turn Mechanism

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