This paper investigates the problem of fast finite-time (FFT) formation control for a group of unmanned aerial vehicles (UAVs) with multiple loops and external disturbances. Unlike previous work on finite-time (FT) formation control, our aim is to achieve a faster response for UAVs. To consider the influence of non-periodic constant disturbances, we designed a new fast finite-time extended state observer (FFTESO) in the observer loop to estimate and actively reject disturbances. We use the “Divide and Conquer” concept to provide FFT stability conditions for multiple loops, including the observer loop, the control loop, and the guidance loop. An obstacle avoidance algorithm is also introduced to ensure UAVs safety while achieving the desired formation. Finally, simulation results involving two cases are provided to demonstrate the effectiveness and merits of our proposed FFT formation control method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fast Finite-Time Formation Control of UAVs With Multiple Loops and External Disturbances


    Beteiligte:
    Huang, Wenke (Autor:in) / Guo, Yanning (Autor:in) / Ran, Guangtao (Autor:in) / Lam, Hak-Keung (Autor:in) / Liu, Jian (Autor:in) / Wang, Bohui (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.02.2025


    Format / Umfang :

    4638964 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Formation fault-tolerant control for multiple UAVs with external disturbances

    Ma, Ziyuan / Gong, Huajun / Wang, Xinhua | Emerald Group Publishing | 2024


    A multivariable adaptive formation control for multiple UAVs with external uncertain disturbances

    Ding, Jian / Jiang, Xiaotong / Zou, Yuchun et al. | Emerald Group Publishing | 2025




    Distributed Finite-Time FTCC of Multi-UAVs with Multiple Leader UAVs

    Yu, Ziquan / Zhang, Youmin / Jiang, Bin et al. | Springer Verlag | 2023