Safe formation control of multiple unmanned aerial vehicles:control design and safety-stability analysis
Haoqi Li1
Jiangping Hu2
Qingrui Zhou3
Bijoy K.Ghosh4
1.School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,Sichuan,China2.School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,Sichuan,China;Yangtze Delta Region Institute(Huzhou),University of Electronic Science and Technology of China,Huzhou 313000,Zhejiang,China3.Qian Xuesen Laboratory of Space Technology,China Academy of Space Technology,Beijing 100094,China4.School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,Sichuan,China;Department of Mathematics and Statistics,Texas Tech University,Lubbock,TX 79409-1042,USA
摘要：Both safety and stability are primary performance criteria for multi-unmanned aerial vehicle(multi-UAV)systems in many coordination tasks.Existing approaches often consider safety and stability separately.It is necessary and urgent to develop a safety-stability control strategy to merge these two performance criteria.In this paper,a unified approach is developed to consider safety and stability for multi-UAV formation control.The stability criterion is represented by a Lyapunov function and safety criterion is represented by a barrier function and then a relaxed converse control Lyapunov-barrier theorem is obtained.With the help of a relaxed converse control Lyapunov-barrier function(RCCLBF),a distributed safety-stability formation control strategy is proposed for the multi-UAV system.By transforming the solution of RCCLBF to a Lyapunov-like stabilization problem,we show that the proposed formation control strategy can drive the UAVs staying within a specified safe set.Simulation results are provided to validate the proposed safety-stability formation control strategy.
机标关键词：controlstabilityanalysisdesignsafetyaerialformationmultiple
论文发表日期：2024-08-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：13( 442-454 )
英文信息