Time-Varying Formation-Containment Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies and a Non-Cooperative Target  

作　　者：WU Xiaojing CAO Tongyao ZHEN Ran LI Zhijie 武晓晶;曹童瑶;甄然;李志杰(School of Electrical Engineering,Hebei University of Science and Technology,Shijiazhuang,050018,China)

机构地区：[1]School of Electrical Engineering,Hebei University of Science and Technology,Shijiazhuang,050018,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第4期689-701,共13页上海交通大学学报（英文版）

基　　金：National Natural Science Foundation of China(No.62003129)。

摘　　要：This paper studies the time-varying formation-containment tracking control problems for unmanned aerial vehicle(UAV)swarm systems with switching topologies and a non-cooperative target,where the UAV swarm systems consist of one tracking-leader,several formation-leaders,and followers.The formation-leaders are required to accomplish a predefined time-varying formation and track the desired trajectory of the tracking-leader,and the states of the followers should converge to the convex hull spanned by those of the formation-leaders.First,a formation-containment tracking protocol is proposed with the neighboring relative information,and the feasibility condition for formation-containment tracking and the algebraic Riccati equation are given.Then,the stability of the control system with the designed control protocol is proved by constructing a reasonable Lyapunov function.Finally,the simulation examples are applied to verify the effectiveness of the theoretical results.The simulation results show that both the formation tracking error and the containment error are convergent,so the system can complete the formation containment tracking control well.In the actual battlefield,combat UAVs need to chase and attack hostile UAVs,but sometimes when multiple UAVs work together for military interception,formationcontainment tracking control will occur.

关 键 词：formation-containment tracking control switching topology unmanned aerial vehicle(UAV) 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]