Abstract
This paper investigates the distributed formation control problem for multiple fixed-wing UAVs with states and input constraints to improve the robustness of the closed-loop system. Firstly, The 6-DOF nonlinear rigid dynamics and formation relative kinematics are established. Furthermore, a distributed leader-following formation control protocol based on the backstepping method is proposed. Based on the leader-following protocol, a distributed formation control scheme is proposed, in which the command filter auxiliary system is designed to compensate the influence of states and input saturation. Finally, Lyapunov stability analysis reveals that the closed-loop system can be guaranteed to be asymptotically stable. The simulation results demonstrate the effectiveness of the proposed method.
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Acknowledgment
This work was co-supported by the National Natural Science Foundation of China (No. 62003036) and China Postdoctoral Science Foundation (No. 2019TQ0037).
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Li, J., Long, T., Sun, J., Liu, D., Zhou, Z. (2022). Distributed Auxiliary Formation Control for Fixed-Wing UAVs with States and Input Constraints. In: Wu, M., Niu, Y., Gu, M., Cheng, J. (eds) Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021). ICAUS 2021. Lecture Notes in Electrical Engineering, vol 861. Springer, Singapore. https://doi.org/10.1007/978-981-16-9492-9_297
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DOI: https://doi.org/10.1007/978-981-16-9492-9_297
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