This paper presents a three-dimensional robust spatiotemporal cooperative guidance law for unmanned aerial vehicles (UAVs) to track a dynamic target under jointly strongly connected topologies, even when some UAVs malfunction. To resolve the infinite gain challenge in existing prescribed-time cooperative guidance laws, a novel bounded-gain prescribed-time stability criterion was formulated. This criterion allows the convergence time of the guidance law to be prescribed arbitrarily without any convergence performance trade-off. Firstly, new prescribed-time disturbance observers are designed to achieve accurate estimations of the target acceleration within a prescribed time regardless of initial conditions. Then, by leveraging a distributed convex hull observer, a tangential acceleration command is proposed to drive arrival times toward a common convex combination within a prescribed time under jointly strongly connected topologies, remaining effective even when partial UAVs fail. Moreover, by utilizing a prescribed-time nonsingular sliding mode control method, normal acceleration commands are developed to guarantee that the line-of-sight angles constraints can be satisfied within a prescribed time. Finally, numerical simulations validate the effectiveness of the proposed guidance law.


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    Titel :

    Bounded-Gain Prescribed-Time Robust Spatiotemporal Cooperative Guidance Law for UAVs Under Jointly Strongly Connected Topologies


    Beteiligte:
    Mingxing Qin (Autor:in) / Le Wang (Autor:in) / Jianxiang Xi (Autor:in) / Cheng Wang (Autor:in) / Shaojie Luo (Autor:in)


    Erscheinungsdatum :

    2025




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




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