adaptive finite-time control for formation tracking of multiple nonholonomic unmanned aerial vehicles with quantized input signals
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ID: 175240
2018
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Abstract
Signal quantization can reduce communication burden in multiple unmanned aerial vehicle (multi-UAV) system, whereas it brings control challenge to formation tracking of multi-UAV system. This study presents an adaptive finite-time control scheme for formation tracking of multi-UAV system with input quantization. The UAV model contains nonholonomic kinematic model and autopilot model with uncertainties. The nonholonomic states of the UAVs are transformed by a transverse function method. For input quantization, hysteretic quantizers are used to reduce the system chattering and new decomposition is introduced to analyze the quantized signals. Besides, a novel transformation of the control signals is designed to eliminate the quantization effect. Based on the backstepping technique and finite-time Lyapunov stability theory, the adaptive finite-time controller is established for formation tracking of the multi-UAV system. Stability analysis proves that the tracking error can converge to an adjustable small neighborhood of the origin within finite time and all the signals in closed-loop system are semiglobally finite-time bounded. Simulation experiment illustrates that the system can track the reference trajectory and maintain the desired formation shape.
| Reference Key |
hu2018mathematicaladaptive
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|---|---|
| Authors | ;Jinglin Hu;Xiuxia Sun;Lei He |
| Journal | journal of power sources |
| Year | 2018 |
| DOI |
10.1155/2018/3528092
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| URL | |
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