Adaptive leader–follower formation control for swarms of unmanned aerial vehicles with motion constraints and unknown disturbances  

作　　者：Yueqian LIANG Qi DONG Yanjie ZHAO 

机构地区：[1]China Academy of Electronics and Information Technology,Beijing 100041,China

出　　处：《Chinese Journal of Aeronautics》2020年第11期2972-2988,共17页中国航空学报（英文版）

基　　金：co-supported by the National Natural Science Foundation of China(Nos.61803353 and U19B2029);the China Postdoctoral Science Foundation(No.2017M620858)。

摘　　要：In this paper,the 3D leader–follower formation control problem,which focuses on swarms of fixed-wing Unmanned Aerial Vehicles(UAVs)with motion constraints and disturbances,has been investigated.Original formation errors of the follower UAVs have been transformed into the Frenet-Serret frame.Formation control laws satisfying five motion constraints(i.e.,linear velocity,linear acceleration,heading rate,climb rate and climb angle)have been designed.The convergence of the control laws has been discussed via the Lyapunov stability tool.In addition,to address the unknown disturbances,an adaptive disturbance observer is exploited.Furthermore,formation control laws involving estimated disturbances are presented as well.The collision avoidance between UAVs is achieved with the artificial potential method.Simulation results obtained using four scenarios verify the effectiveness of the proposed method in situations with constant disturbances and varying disturbances,as well as without disturbances.

关 键 词：Constraint handling Disturbance rejection Formation flying Leader–follower method SWARM 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1