Abstract
This paper presents a fixed-time formation control method for a set of unmanned aerial vehicles (UAVs) subject to uncertainties and actuator faults. By using Backstepping and fixed-time control theory, a formation control strategies is proposed, with which the UAVs can track the reference formation trajectory in fixed-time. To handle the formation tracking error constraints of the UAVs, we incorporate the Barrier Lyapunov function into control scheme. A fixed-time extended state observer is designed to estimate the compound disturbances that comprise environment disturbances, uncertainties and the actuator faults. Despite the influence of disturbances, the proposed formation control method can guarantee that the close-loop system is stable in fixed-time. Numerical simulation studies are presented to demonstrate the effectiveness of proposed formation control method.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
