Safe formation control of multiple unmanned aerial vehicles:control design and safety-stability analysis  

作　　者：Haoqi Li Jiangping Hu Qingrui Zhou Bijoy K.Ghosh 

机构地区：[1]School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,Sichuan,China [2]Yangtze Delta Region Institute(Huzhou),University of Electronic Science and Technology of China,Huzhou 313000,Zhejiang,China [3]Qian Xuesen Laboratory of Space Technology,China Academy of Space Technology,Beijing 100094,China [4]Department of Mathematics and Statistics,Texas Tech University,Lubbock,TX 79409-1042,USA

出　　处：《Control Theory and Technology》2024年第3期442-454,共13页控制理论与技术（英文版）

基　　金：supported in part by the National Key Research and Development Program of China(No.2022YFE0133100);in part by the National Natural Science Foundation of China(No.62203089);in part by the Sichuan Science and Technology Program(Nos.24NSFSC1362,2020YFSY0012).

摘　　要：Both safety and stability are primary performance criteria for multi-unmanned aerial vehicle(multi-UAV)systems in many coordination tasks.Existing approaches often consider safety and stability separately.It is necessary and urgent to develop a safety-stability control strategy to merge these two performance criteria.In this paper,a unified approach is developed to consider safety and stability for multi-UAV formation control.The stability criterion is represented by a Lyapunov function and safety criterion is represented by a barrier function and then a relaxed converse control Lyapunov-barrier theorem is obtained.With the help of a relaxed converse control Lyapunov-barrier function(RCCLBF),a distributed safety-stability formation control strategy is proposed for the multi-UAV system.By transforming the solution of RCCLBF to a Lyapunovlike stabilization problem,we show that the proposed formation control strategy can drive the UAVs staying within a specified safe set.Simulation results are provided to validate the proposed safety-stability formation control strategy.

关 键 词：Multi-UAV system Formation control Lyapunov function Barrier function Stability with safety guarantee 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249