Related Experiment Video
Updated: May 24, 2025

Building an Enhanced Flight Mill for the Study of Tethered Insect Flight
Published on: March 10, 2021
Distributed Extended State Observer-Based Formation Control of Flight Vehicles Subject to Constraints on Speed and
Abstract:
This article investigates the leader-follower formation control of flight vehicles subject to speed and control acceleration constraints. The objective of the flight vehicles is to track a virtual leader in a nominal configuration, while the speeds and control accelerations of the flight vehicles are restricted within certain ranges. A distributed extended state observer (DESO) featuring practical predefined-time convergence is proposed for the followers to estimate the leader's position and velocity. Then, an adaptive finite-time position tracking control law is developed so that the followers form the expected formation by tracking the expected positions related to the estimation of the virtual leader's information and the nominal configuration. The speed constraint is satisfied by leveraging a transformation based on the inverse hyperbolic tangent function, while an adaptive scheme exploiting the integral barrier Lyapunov function (IBLF) is proposed to address the control acceleration constraints. Numerical simulations are conducted to validate the proposed method.
Related Concept Videos
Controller Configurations
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
One-Degree-of-Freedom System
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
Multi-input and Multi-variable systems
In the absence...
Conservation of Mass in Fixed, Nondeforming Control Volume
In the case of a sewer pipe, which can be modeled...
Conservation of Mass in Moving, Nondeforming Control Volume
In the context of a detention basin, the conservation of mass states that the total mass of water entering the basin must equal the mass leaving the basin plus any accumulation of...
Linear Momentum in Control Volume

