Research On Finite-time UAV Formation Control Techniques With Acceleration Constraints

With the development of UAV-related technologies,UAVs have been widely used in both civilian and military applications.In practical applications it is difficult for a single UAV to handle complex tasks,and UAV formations have greater advantages over single UAVs in terms of mission time,mission cost and fault tolerance,so UAV formations have come into being.UAV formation control has received much attention as an important support technology for UAV formations.This paper carries out research on the UAV formation control problem based on consensus theory,and the main research contents are as follows:Firstly,the finite-time UAV formation control problem considering acceleration constraints is investigated in view of the structural limitations of UAV bodies and the need for rapid formation.Based on consensus theory,the finite-time formation control law is designed under two scenarios,leader-follower and leaderless,respectively,and the finite-time stability of the system is proved and analyzed based on Lyapunov stability theory and homogeneous theory.Numerical simulations show that the UAV can form the desired formation quickly and satisfy the constraint requirements.Secondly,the finite-time UAV formation control problem without velocity information is investigated for scenarios where the UAV formation is limited by on-board equipment or communication bandwidth.Based on the finite-time state observer,the UAV formation control law based on the finite-time state observer is designed in the leader-follower and leaderless scenarios.The state observer is used to obtain an estimate of the UAV velocity,and the velocity estimate is replaced by the velocity term in the aforementioned formation control law to realize the UAV formation control without velocity information,and Lyapunov stability theory is used to analyses the system containing the observer stability.The simulation analysis shows that the UAV formation control law based on the finite-time state observer has the same control performance as the aforementioned full-state UAV formation control law.Finally,in order to avoid collisions between the UAV formation and obstacles or other UAVs in the formation,the survivability of the UAV formation is increased.In this paper,we study the UAV formation obstacle avoidance method based on artificial potential field,propose an improved UAV formation obstacle avoidance method based on artificial potential field,combine it with the finite-time UAV formation control law,design the UAV formation control law considering UAV formation obstacle avoidance and inter-aircraft collision avoidance,and simulate and verify that the proposed control law can not only achieve obstacle avoidance,but also meet the inter-aircraft safety distance requirement.