Event-triggered Finite-time Formation Control for Multiple Unmanned Aerial Vehicles with Input Saturation

• Published in: International journal of control, automation, and systems Vol. 19; no. 5; pp. 1760 - 1773
• Main Authors: Yang, Pan, Zhang, An, Zhou, Ding
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.05.2021; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Algorithms; Control; Control algorithms; Control stability; Control theory; Control Theory and Applications; Differential geometry; Engineering; Feedback linearization; Liapunov functions; Mathematical models; Mechatronics; Robotics; Saturation; Unmanned aerial vehicles; 제어계측공학; settling time estimation; finite-time; input saturation; formation control; Event-triggered
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-019-0833-7

Considering formation control of multi-UAV system subject to input saturation, the issue of achieving predefined configuration in a distributed finite-time event-triggered scheme is investigated. Precise feedback linearization based on differential geometry theory is utilized to linearize the nonlinear motion model of unmanned aerial vehicles. A fixed-time convergent observer is skillfully constructed to estimate the leader’s velocity information with accuracy and quickness. A novel distributed event-triggered finite-time formation control protocol incorporated by saturation functions is proposed to achieve the desired formation in finite time. An estimation of the finite-settling time is conducted by subtly constructing the Lyapunov function. Rigorous proof shows the finite-time stability of the formation control algorithm, boundedness of the control inputs and non-existence of the unexpected Zeno behavior. Numerical simulations are performed to demonstrate the effectuality of the theoretical results.