Abstract
The affine formation tracking problem for fixed-wing unmanned aerial vehicles (UAVs) is considered in this paper, where fixed-wing UAVs are modeled as unicycle-type agents with asymmetrical speed constraints. A group of UAVs are required to generate and track a time-varying target formation obtained by affinely transforming a nominal formation. To handle this problem, a distributed control law based on stress matrix is proposed under the leader-follower control scheme. It is proved, theoretically, that followers can converge to the desired positions and achieve affine transformations while tracking diverse trajectories. Furthermore, a saturated control strategy is proposed to meet the speed constraints of fixed-wing UAVs, and numerical simulations are executed to verify the effectiveness of our proposed affine formation tracking control strategy in improving maneuverability
摘要
本文聚焦固定翼无人机集群仿射编队跟踪控制问题, 其中固定翼无人机被建模为具有非对称速度约束的独轮车。无人机集群控制目标是生成并跟踪一个由名义编队仿射变换得到的时变目标编队。针对这一目标, 在领航跟随者编队控制框架下, 提出一种基于应力矩阵的分布式编队控制策略, 并从理论上证明, 跟随者在跟踪不同飞行轨迹的同时, 能够收敛到由领航者位置决定的期望位置, 实现编队队形的仿射变换。进一步, 为满足固定翼无人机飞行速度约束, 提出一种基于饱和函数的控制策略。数值仿真结果证实, 所提仿射编队控制策略能有效提高机动性。
Similar content being viewed by others
References
Beard RW, Ferrin J, Humpherys J, 2014. Fixed wing UAV path following in wind with input constraints. IEEE Trans Contr Syst Technol, 22(6):2103–2117. https://doi.org/10.1109/TCST.2014.2303787
Chen H, Wang XK, Shen LC, et al., 2021. Formation flight of fixed-wing UAV swarms: a group-based hierarchical approach. Chin J Aeronaut, 34(2):504–515. https://doi.org/10.1016/jxja.2020.03.006
Chen LM, Mei J, Li CJ, et al., 2020. Distributed leader-follower affine formation maneuver control for high-order multiagent systems. IEEE Trans Autom Contr, 65(11):4941–4948. https://doi.org/10.1109/TAC.2020.2986684
Connelly R, 2005. Generic global rigidity. Disc Comput Geom, 33(4):549–563. https://doi.org/10.1007/s00454-004-1124-4
Fathian K, Summers TH, Gans NR, 2018. Distributed formation control and navigation of fixed-wing UAVs at constant altitude. Int Conf on Unmanned Aircraft Systems, p.300–307. https://doi.org/10.1109/ICUAS.2018.8453462
Lin YJ, Lin ZY, Sun ZY, et al., 2021. A unified approach for finite-time global stabilization of affine, rigid and translational formation. IEEE Trans Autom Contr, early access. https://doi.org/10.1109/TAC.2021.3084247
Lin ZY, Wang LL, Chen ZY, et al., 2016. Necessary and sufficient graphical conditions for affine formation control. IEEE Trans Autom Contr, 61(10):2877–2891. https://doi.org/10.1109/TAC.2015.2504265
Liu ZH, Wang XK, Shen LC, et al., 2020. Mission-oriented miniature fixed-wing UAV swarms: a multilayered and distributed architecture. IEEE Trans Syst Man Cybern Syst, 52(3):1588–1602. https://doi.org/10.1109/TSMC.2020.3033935
Miao ZQ, Liu YH, Wang YN, et al., 2018. Distributed estimation and control for leader-following formations of nonholonomic mobile robots. IEEE Trans Autom Sci Eng, 15(4):1946–1954. https://doi.org/10.1109/TASE.2018.2810253
Oh KK, Park MC, Ahn HS, 2015. A survey of multi-agent formation control. Automatica, 53:424–440. https://doi.org/10.1016/j.automatica.2014.10.022
Onuoha O, Tnunay H, Ding ZT, 2019a. Affine formation maneuver control of multi-agent systems with triple-integrator dynamics. American Control Conf, p.5334–5339. https://doi.org/10.23919/ACC.2019.8814353
Onuoha O, Tnunay H, Li ZH, et al., 2019b. Optimal affine formation control of linear multi-agent system. IEEE 15th Int Conf on Control and Automation, p.851–856. https://doi.org/10.1109/ICCA.2019.8900001
Paranjape AA, Chung SJ, Kim K, et al., 2018. Robotic herding of a flock of birds using an unmanned aerial vehicle. IEEE Trans Robot, 34(4):901–915. https://doi.org/10.1109/TRO.2018.2853610
Ren W, Beard RW, Atkins EM, 2007. Information consensus in multivehicle cooperative control. IEEE Contr Syst Mag, 27(2):71–82. https://doi.org/10.1109/MCS.2007.338264
Wang XK, Shen LC, Liu ZH, et al., 2019. Coordinated flight control of miniature fixed-wing UAV swarms: methods and experiments. Sci China Inform Sci, 62(11):212204. https://doi.org/10.1007/s11432-018-9887-5
Wang YZ, Shan M, Wang DW, 2020. Motion capability analysis for multiple fixed-wing UAV formations with speed and heading rate constraints. IEEE Trans Contr Netw Syst, 7(2):977–989. https://doi.org/10.1109/TCNS.2019.2929658
Wu S, 2013. Aircraft motion equation. In: Song SJ (Ed.), Aircraft Fight Control System. Beihang University Press, Beijing, China (in Chinese).
Xu Y, Zhao SY, Luo DL, et al., 2018. Affine formation maneuver control of linear multi-agent systems with undirected interaction graphs. IEEE Conf on Decision and Control, p.502–507. https://doi.org/10.1109/CDC.2018.8619540
Xu Y, Li DY, Luo DL, et al., 2019a. Affine formation maneuver tracking control of multiple second-order agents with time-varying delays. Sci China Technol Sci, 62(4):665–676. https://doi.org/10.1007/s11431-018-9328-2
Xu Y, Luo DL, Li DY, et al., 2019b. Target-enclosing affine formation control of two-layer networked spacecraft with collision avoidance. Chin J Aeronaut, 32(12):2679–2693. https://doi.org/10.1016/j.cja.2019.04.016
Xu Y, Li DY, Luo DL, et al., 2019c. Two-layer distributed hybrid affine formation control of networked Euler-Lagrange systems. J Franklin Inst, 356(4):2172–2197. https://doi.org/10.1016/j.jfranklin.2018.11.029
Xu Y, Lin ZY, Zhao SY, 2020. Distributed affine formation tracking control of multiple fixed-wing UAVs. 39th Chinese Control Conf, p.4712–4717. https://doi.org/10.23919/CCC50068.2020.9188925
Zhao SL, Wang XK, Lin ZY, et al., 2020. Integrating vector field approach and input-to-state stability curved path following for unmanned aerial vehicles. IEEE Trans Syst Man Cybern Syst, 50(8):2897–2904. https://doi.org/10.1109/TSMC.2018.2839840
Zhao SY, 2018. Affine formation maneuver control of multiagent systems. IEEE Trans Autom Contr, 63(12):4140–4155. https://doi.org/10.1109/TAC.2018.2798805
Author information
Authors and Affiliations
Contributions
Huiming LI designed the research and drafted the paper. Hao CHEN and Xiangke WANG helped organize the paper. All the authors revised and finalized the paper.
Corresponding author
Additional information
Compliance with ethics guidelines
Huiming LI, Hao CHEN, and Xiangke WANG declare that they have no conflict of interest.
Project supported by the National Natural Science Foundation of China (No. 61973309), the Research Project of National University of Defense Technology, China (No. ZK21-05), and the Hunan Provincial Natural Science Foundation of China (No. 2021JJ10053)
Rights and permissions
About this article
Cite this article
Li, H., Chen, H. & Wang, X. Affine formation tracking control of unmanned aerial vehicles. Front Inform Technol Electron Eng 23, 909–919 (2022). https://doi.org/10.1631/FITEE.2100109
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1631/FITEE.2100109