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Distributed time-varying out formation-containment tracking of multi-UAV systems based on finite-time event-triggered
Xin Cai1, Xiaozhou Zhu1, Wen Yao2
1Defense Innovation Institute, Chinese Academy of Military Science, Beijing, 100000, China.
Abstract:
Considering the limited communication resources and slow convergence speed of multi-unmanned aerial vehicle (UAV) systems, this paper presents a finite-time even-triggered control framework for multi-UAV systems to achieve formation-containment tracking control. First, a virtual leader with time-varying output is introduced so that the trajectory of the whole system can be manipulated in real time. Second, the finite-time control enables that the systematic error converge to a small neighborhood of origin in finite time. Third, in order to save communication resources, an event-triggering function is developed to generate the control event sequences, which avoids continuous update of the controller. Rigorous proof shows the finite-time stability of the proposed control algorithm, and Zeno behavior is strictly excluded for each UAV. Finally, some numerical simulations are given to verify the effectiveness of the proposed controllers.
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