防务技术2024，Issue(1) ：429-446.DOI:10.1016/j.dt.2023.02.007

Distributed Multicircular Circumnavigation Control for UAVs with Desired Angular Spacing

Shixiong Li Xingling Shao Wendong Zhang Qingzhen Zhang
防务技术2024，Issue(1) ：429-446.DOI:10.1016/j.dt.2023.02.007
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  • 维普
  • 万方数据

Distributed Multicircular Circumnavigation Control for UAVs with Desired Angular Spacing

Shixiong Li 1Xingling Shao 1Wendong Zhang 1Qingzhen Zhang2
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作者信息

  • 1. National Key Laboratory for Electronic Measurement Technology,School of Instrument and Electronics,North University of China,Taiyuan 030051,China
  • 2. School of Automation Science and Electrical Engineering,Beihang University,Beijing 100086,China
  • 折叠

Abstract

This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving target.Besides,to avoid the requirement of target's states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state es-timates in a fixed-time sense,and the upper boundary of settling time can be determined offline irre-spective of initial properties,greatly releasing the burdensome communication traffic.Then,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular spacing.It is inferred from Lyapunov stability that all errors are demonstrated to be convergent.Simulations are offered to verify the utility of proposed protocol.

Key words

Angular spacing/Distributed observer/Multicircular circumnavigation/Moving target/UAVs

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基金项目

National Natural Science Foundation of China(62173312)

National Natural Science Foundation of China(61922037)

National Natural Science Foundation of China(61873115)

National Natural Science Foundation of China(61803348)

National Major Scientific Instruments Development Project(61927807)

State Key Laboratory of Deep Buried Target Damage(DXMBJJ2019-02)

Scientific and Technological Innovation Programs of Higher Education Institutions in Shanxi(2020L0266)

Shanxi Province Science Foundation for Youths(201701D221123)

Youth Academic North University of China(QX201803)

Program for the Innovative Talents of Higher Education Institutions of Shanxi()

Shanxi"1331 Project"Key Subjects Construction(1331KSC)

Shanxi Province Science Foundation for Excellent Youths()

出版年

2024
防务技术
中国兵工学会

防务技术

CSTPCD
影响因子：0.358
ISSN：2214-9147
参考文献量47
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