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

• Published in: Shanghai jiao tong da xue xue bao Vol. 29; no. 4; pp. 689 - 701
• Main Authors: Wu, Xiaojing, Cao, Tongyao, Zhen, Ran, Li, Zhijie
• Format: Journal Article
• Language: English
• Published: Shanghai Shanghai Jiaotong University Press 01.08.2024; Springer Nature B.V
• Subjects: Architecture; Computer Science; Containment; Control stability; Control systems; Convexity; Cooperative control; Electrical Engineering; Engineering; Interception; Liapunov functions; Life Sciences; Materials Science; Riccati equation; Switching; Topology; Tracking control; Tracking errors; Unmanned aerial vehicles; unmanned aerial vehicle (UAV); A; 切换拓扑; switching topology; TP273; 无人机; 编队合围跟踪控制; formation-containment tracking control; unmanned aerial vehicle(UAV)
• ISSN: 1007-1172; 1995-8188
• DOI: 10.1007/s12204-024-2728-x

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.