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.


    Access

    Download


    Export, share and cite



    Title :

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


    Contributors:
    Mingxing Qin (author) / Le Wang (author) / Jianxiang Xi (author) / Cheng Wang (author) / Shaojie Luo (author)


    Publication date :

    2025




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Multiple UAVs Time-Cooperative Guidance Law Under Directed Communication Topologies

    Lyu, Teng / Xu, Cheng | British Library Conference Proceedings | 2022





    Terminal Impact Time Control Cooperative Guidance Law for UAVs under Time-Varying Velocity

    Zhanyuan Jiang / Jianquan Ge / Qiangqiang Xu et al. | DOAJ | 2021

    Free access