Cooperative Platoon Control for Uncertain Networked Aerial Vehicles With Predefined-Time Convergence

Abstract

In this paper, the predefined-time cooperative platoon control problem with constrained communication range for uncertain networked aerial vehicles is considered. The uncertain networked aerial vehicles are subjected to external disturbance and parameter uncertainties. A novel adaptive sliding mode disturbance observer is first designed for single uncertain networked aerial vehicle with an RBFNN estimator to guarantee the control performance. By embedding a dynamic control gain associated with the predefined convergence time, the proposed disturbance observer is proved to be uniformly ultimate boundedness (UUB) stable by the time transformation approach. Then the dynamic gain technology is combined with the prescribed performance control to design the platoon controllers for uncertain networked aerial vehicles. With the proposed disturbance observer and the distribute controller, the platoon can be achieved within the predefined time. The proposed approach can simultaneously guarantee the system stabile without any initial conditions and system parameters. Finally, some simulation experiments are given to verify the effectiveness of the proposed protocols.