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Distributed Extended State Observer-Based Formation Control of Flight Vehicles Subject to Constraints on Speed and

Guofei Li, Xianzhi Wang, Zongyu Zuo

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    This summary is machine-generated.

    This study presents a new method for flight vehicle formation control, ensuring vehicles stay together while respecting speed and acceleration limits. The approach uses advanced observers and control laws for precise tracking and formation.

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    Area of Science:

    • Aerospace Engineering
    • Control Systems Theory
    • Robotics

    Background:

    • Leader-follower formation control is crucial for coordinated flight vehicle operations.
    • Existing methods often struggle with simultaneous speed and control acceleration constraints.
    • Ensuring robust and precise formation tracking under operational limitations is a significant challenge.

    Purpose of the Study:

    • To develop a novel distributed formation control strategy for flight vehicles.
    • To address practical constraints on vehicle speed and control acceleration.
    • To achieve accurate tracking of a virtual leader and maintain a desired formation.

    Main Methods:

    • A distributed extended state observer (DESO) with practical predefined-time convergence is employed for leader state estimation.
    • An adaptive finite-time position tracking control law is designed for follower vehicles.
    • Speed constraints are managed using an inverse hyperbolic tangent transformation.
    • Control acceleration constraints are handled via an adaptive integral barrier Lyapunov function (IBLF) scheme.

    Main Results:

    • The proposed DESO effectively estimates the leader's position and velocity under dynamic conditions.
    • The adaptive finite-time control law ensures followers achieve the target formation.
    • The inverse hyperbolic tangent function successfully enforces speed limitations.
    • The IBLF scheme effectively manages control acceleration constraints, preventing violations.

    Conclusions:

    • The developed leader-follower formation control method effectively handles speed and control acceleration constraints.
    • The integration of DESO and adaptive finite-time control provides a robust solution for coordinated flight.
    • Numerical simulations validate the efficacy and practicality of the proposed control strategy.