This article investigates the distributed fixed-time formation control problem for the multiquadrotor systems with prescribed performance. First, the distributed fixed-time estimators are proposed to accurately estimate the position and velocity information of the leader. Subsequently, the estimator-based position tracking control protocol and attitude controllers are presented, wherein the prescribed performance control technique is utilized. In order to tackle the difficulty of preassigning the settling time of the system, a prescribed-fixed-time formation control protocol is proposed to track the desired trajectories and maintain desired patterns. The stability of the system is guaranteed and collision avoidance among agents is maintained through the implementation of modified hyperbolic cotangent functions and the repulsive potential functions. Finally, numerical simulations are performed to show the efficiency of the proposed scheme.
Distributed Fixed-Time Leader-Following Formation Control for Multiquadrotors With Prescribed Performance and Collision Avoidance
IEEE Transactions on Aerospace and Electronic Systems ; 59 , 5 ; 7281-7294
2023-10-01
3702526 byte
Article (Journal)
Electronic Resource
English
Cooperative Prescribed Performance Control with Collision Avoidance and Connectivity Assurance
Springer Verlag | 2025
|Collision Avoidance Formation Control of Fixed-Wing UAVs with Nonholonomic Kinematic Constraints
Springer Verlag | 2023
|Distributed reactive collision avoidance
British Library Online Contents | 2012
|