Model decomposition-based optimal formation control for multiple unmanned aerial vehicles

Abstract

This paper deals with the optimal formation control problem based on model decomposition for multiple unmanned aerial vehicles (UAVs). The main contribution of this paper is to integrate the formation control and the trajectory tracking into one unified feedforward control and feedback control framework in an optimal mode. We first establish the dynamic model of the leader-follower UAV formation system, and the communication network topology which only depends on the position information given by the leader. Second, to reduce the complexity of the model, each follower is decomposed into three isolated subsystems. Third, a step-by-step formation controller design scheme decomposed into feedforward control and optimal control of formation control is proposed. Finally, the proposed scheme has been extensively simulated and the results demonstrate the stability and the optimality.

Adaptive full-order sliding mode bounded attitude control for spacecraft formation flying with event-triggered communication

“…The attitude tracking control for spacecraft formation flying (SFF) has elicited much attention from researchers over the past decade owing to its broad engineering application potentials, such as deep space exploration, monitoring of the Earth atmosphere, in-orbit servicing and maintenance of spacecraft. To satisfy the requirements in theoretical and engineering, adaptive control (Siavash et al, 2020;Xie et al, 2022), optimal control (Liu et al, 2019;Shehzad et al, 2022), and sliding mode control (Zhang et al, 2019a(Zhang et al, , 2021 have been widely used for SFF. In practice, spacecraft are usually subject to many factors, such as external disturbances, input constraints, and limited communication, resulting in reduced control performance, which are the key obstacles that the SFF control needs to solve.…”