首页|Distributed Multicircular Circumnavigation Control for UAVs with Desired Angular Spacing

Distributed Multicircular Circumnavigation Control for UAVs with Desired Angular Spacing

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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.

Angular spacingDistributed observerMulticircular circumnavigationMoving targetUAVs

Shixiong Li、Xingling Shao、Wendong Zhang、Qingzhen Zhang

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National Key Laboratory for Electronic Measurement Technology,School of Instrument and Electronics,North University of China,Taiyuan 030051,China

School of Automation Science and Electrical Engineering,Beihang University,Beijing 100086,China

the National Natural Science Foundation of Chinathe National Major Scientific Instruments Development Projectthe State Key Laboratory of Deep Buried Target Damagethe Scientific and Technological Innovation Programs of Higher Education Institutions in Shanxithe Shanxi Province Science Foundation for Youthsthe Youth Academic North University of Chinathe Program for the Innovative Talents of Higher Education Institutions of Shanxithe Shanxi"1331 Project"Key Subjects ConstructionShanxi Province Science Foundation for Excellent Youths

62173312;61922037;61873115;6180334861927807DXMBJJ2019-022020L0266201701D221123QX2018031331KSC

2024

10.1016/j.dt.2023.02.007

防务技术
中国兵工学会

防务技术

CSTPCD
影响因子：0.358
ISSN：2214-9147
年,卷(期)：2024.(1)
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