2022
DOI: 10.3390/electronics11152334
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Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles with the Leader’s Unknown Input and Obstacle Avoidance: Theories and Applications

Abstract: This paper investigates the time-varying formation tracking (TVFT) problems for unmanned aerial vehicle (UAV) swarm systems with the leader’s unknown input and collision and obstacle avoidance mechanism. To solve the TVFT control problem which has not been studied extensively, distributed observers are proposed to estimate the leader’s position and a TVFT control protocol is constructed. Stability of control protocol is proved by Lyapunov stability theory. Furthermore, the effectiveness of the TVFT control pro… Show more

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Cited by 6 publications
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References 35 publications
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