To simultaneously achieve space formation flight and target tracking of multiple unmanned aerial vehicles (UAVs) and solve the rotation buffeting problem of the UAV, a robust formation control and target tracking algorithm is proposed. The artificial potential function consisting of formation control term and target tracking term is established, and its convergence is proved. The sliding mode control method with the saturation function is established, and a sufficient condition for sliding mode to occur is analysed. Finally, the numerical simulation is conducted for the proposed algorithm, and the simulation result is analysed. The results show that the proposed algorithm can quickly achieve the formation flight and target tracking of multi-UAVs and improve the tracking performance; meanwhile, it can effectively weaken the rotation buffeting and improve the robustness.


    Access

    Download


    Export, share and cite



    Title :

    Artificial Potential Field-Based Multi-UAV Formation Control and Target Tracking


    Contributors:
    He Song (author) / Shaolin Hu (author) / Wenqiang Jiang (author) / Qiliang Guo (author) / Ming Zhu (author)


    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Formation control of UAVs based on artificial potential field

    Lv Yongshen / Yang Xuerong / Yang Yajun et al. | DOAJ | 2018

    Free access

    UAV formation control based on combining consensus control and artificial potential field

    Zhao, Hongchao / Zhao, Jianzhong / Dong, Xuexia | SPIE | 2021



    Time-varying formation tracking with distributed multi-sensor multi-target filtering

    Qi, Jialin / Zhang, Zheng / Dong, Xiwang et al. | IEEE | 2023