Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints

Bojian Liu; Yong Guo; Aijun Li

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Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints

机译：Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints

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摘要

This paper devotes to addressing the finite-time containment control for the multi-UAVs with input saturation and velocity constraints. A novel smooth function is presented to estimate the saturation function with adjustable estimate errors. By utilizing the mean-value theorem, the containment control for UAVs with input saturation can be turned into a variable gain control problem. To address this issue, the Nussbaum-based method is used to design the controller in this paper. Besides, based on the backstepping method, the controller can constrain the velocity states of UAVs within a desired time-varying asymmetric region by limiting the values of virtual velocity commands and the Lyapunov function. Finally, the finite-time convergence of the errors and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.

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来源
《Aerospace science and technology》 |2023年第8期|646-670|共25页
作者
Bojian Liu; Yong Guo; Aijun Li;
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作者单位

School of Automation, Northwestern Polytechnical University, Xian 710072, China;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种英语
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关键词
Containment control; Velocity constraint; Input saturation; Nussbaum function; Backstepping control;

Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints

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