Distributed adaptive time‐varying formation of multi‐UAV systems under undirected graph
Abstract In this paper, a fully distributed control protocol is presented based on adaptive technology to solve the time‐varying formation problem of multi‐unmanned aerial vehicle (UAV) systems, where the coupling weights between neighbouring UAVs can be adjusted through adaptive method. Firstly, th...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2024-02-01
|
| Series: | IET Intelligent Transport Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/itr2.12446 |
| _version_ | 1797323596631113728 |
|---|---|
| author | Xin Cai Xiaozhou Zhu Wen Yao |
| author_facet | Xin Cai Xiaozhou Zhu Wen Yao |
| author_sort | Xin Cai |
| collection | DOAJ |
| description | Abstract In this paper, a fully distributed control protocol is presented based on adaptive technology to solve the time‐varying formation problem of multi‐unmanned aerial vehicle (UAV) systems, where the coupling weights between neighbouring UAVs can be adjusted through adaptive method. Firstly, the proposed control protocol eliminates the need for global information on the interaction topology of multi‐UAV systems, the calculation of Laplacian matrix eigenvalues is avoided and reduces the computational complexity of the system. Secondly, an algorithm with two steps is proposed to determine the distributed adaptive control gain matrices, where the feasibility condition of time‐varying formation of multi‐UAV systems is given. Then, the closed‐loop stability of multi‐UAV systems is proved through Lyapunov theory. Finally, numerical simulation is conducted to verify the effectiveness of the theoretical results. |
| first_indexed | 2024-03-08T05:30:54Z |
| format | Article |
| id | doaj.art-73a8871571034ea1afdaec8ac3aab02d |
| institution | Directory Open Access Journal |
| issn | 1751-956X 1751-9578 |
| language | English |
| last_indexed | 2024-03-08T05:30:54Z |
| publishDate | 2024-02-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Intelligent Transport Systems |
| spelling | doaj.art-73a8871571034ea1afdaec8ac3aab02d2024-02-06T07:08:45ZengWileyIET Intelligent Transport Systems1751-956X1751-95782024-02-0118221822910.1049/itr2.12446Distributed adaptive time‐varying formation of multi‐UAV systems under undirected graphXin Cai0Xiaozhou Zhu1Wen Yao2Defense Innovation Institute Chinese Academy of Military Science Beijing ChinaDefense Innovation Institute Chinese Academy of Military Science Beijing ChinaDefense Innovation Institute Chinese Academy of Military Science Beijing ChinaAbstract In this paper, a fully distributed control protocol is presented based on adaptive technology to solve the time‐varying formation problem of multi‐unmanned aerial vehicle (UAV) systems, where the coupling weights between neighbouring UAVs can be adjusted through adaptive method. Firstly, the proposed control protocol eliminates the need for global information on the interaction topology of multi‐UAV systems, the calculation of Laplacian matrix eigenvalues is avoided and reduces the computational complexity of the system. Secondly, an algorithm with two steps is proposed to determine the distributed adaptive control gain matrices, where the feasibility condition of time‐varying formation of multi‐UAV systems is given. Then, the closed‐loop stability of multi‐UAV systems is proved through Lyapunov theory. Finally, numerical simulation is conducted to verify the effectiveness of the theoretical results.https://doi.org/10.1049/itr2.12446adaptive controlaircraft controldistributed control |
| spellingShingle | Xin Cai Xiaozhou Zhu Wen Yao Distributed adaptive time‐varying formation of multi‐UAV systems under undirected graph IET Intelligent Transport Systems adaptive control aircraft control distributed control |
| title | Distributed adaptive time‐varying formation of multi‐UAV systems under undirected graph |
| title_full | Distributed adaptive time‐varying formation of multi‐UAV systems under undirected graph |
| title_fullStr | Distributed adaptive time‐varying formation of multi‐UAV systems under undirected graph |
| title_full_unstemmed | Distributed adaptive time‐varying formation of multi‐UAV systems under undirected graph |
| title_short | Distributed adaptive time‐varying formation of multi‐UAV systems under undirected graph |
| title_sort | distributed adaptive time varying formation of multi uav systems under undirected graph |
| topic | adaptive control aircraft control distributed control |
| url | https://doi.org/10.1049/itr2.12446 |
| work_keys_str_mv | AT xincai distributedadaptivetimevaryingformationofmultiuavsystemsunderundirectedgraph AT xiaozhouzhu distributedadaptivetimevaryingformationofmultiuavsystemsunderundirectedgraph AT wenyao distributedadaptivetimevaryingformationofmultiuavsystemsunderundirectedgraph |