Finite-Time Asynchronous Event-Triggered Formation of UAVs with Semi-Markov-Type Topologies.

Area of Science:

• Robotics and Control Systems
• Networked Autonomous Systems
• Aerospace Engineering

Background:

• Investigating formation control for Unmanned Aerial Vehicles (UAVs) is crucial for complex missions.
• Switching network topologies and external disturbances pose significant challenges to UAV formation stability.
• Efficient communication protocols are needed to manage data exchange in distributed UAV systems.

Purpose of the Study:

• To solve the finite-time formation problem for UAVs with semi-Markov switching topologies.
• To enhance robustness against disturbances using finite-time passivity performance.
• To develop an asynchronous event-triggered communication scheme for efficient information exchange.

Main Methods:

• Utilizing finite-time passivity performance to mitigate disturbance effects.
• Designing mode-dependent formation controllers based on the Lyapunov-Krasovskii method.
• Implementing an asynchronous event-triggered communication strategy.

Main Results:

• The proposed controllers ensure finite-time configuration formation accomplishment.
• The asynchronous event-triggered scheme enhances communication efficiency.
• Simulation results validate the effectiveness of the developed formation approach.

Conclusions:

• The finite-time formation control strategy is effective for UAVs under semi-Markov switching topologies.
• The integration of passivity performance and event-triggered communication improves system resilience and efficiency.
• The proposed method provides a robust solution for complex UAV formation tasks.