Abstract

AbstractIn order to deal with the formation control problem for multiple unmanned aerial vehicles (UAVs), a prescribed performance control (PPC) scheme based on backstepping method is developed. Firstly, the nonlinear mathematical model with bounded external disturbance is established. Meanwhile, the tracking error model of UAV formation is formulated on the basis of graph theory. For the purpose of limiting the tracking error within a small range, a performance function is recommended. Furthermore, considering that the direct processing of the initial system has great difficulties, an error transformation function is adopted. Based on PPC theory, the structure of the control law is deduced by utilizing the backstepping method. In addition, the derivation process of stability analysis is shown in detail. The simulation results show the superiority of trajectory tracking performance, which demonstrates the validity of the designed control scheme.KeywordsUnmanned Aerial Vehicle (UAV)Formation controlPrescribed Performance Control (PPC)Backstepping method

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 call

Disclaimer: 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.