Work

Cooperative Networked Quadrotor UAV Formation and Prescribed Time Tracking Control with Speed and Input Saturation Constraints

Year: 2025

Type: article

Abstract: This paper addresses the challenges of cooperative formation control and prescribed-time tracking for networked quadrotor UAVs under speed and input saturation constraints. A hierarchical control framework including position formation layer and attitude tracking layer is proposed, which achieves full drive control of an underactuated UAV formation system by introducing the expected tracking Euler angle. For the outer-loop position control, a distributed consensus protocol with restricted state and control inputs is designed to ensure formation stability with customizable spacing and bounded velocity. The inner-loop attitude control employs a prescribed-time sliding mode attitude controller (PTSMAC) integrated with a prescribed-time extended state observer (PTESO), enabling rapid convergence within user-defined time and compensating for unmodeled dynamics, wind disturbances, and actuator saturation. The effectiveness of the proposed algorithm was demonstrated through Lyapunov stability. Comparative simulations show that the proposed method has significant advantages in high-precision formation control, convergence time, and input saturation.

Source: Drones

DOI: 10.3390/drones9060417

Authors: Zhikai Wang, Yifan Qin, Fazhan Tao, Zihao Wu, Song Gao

Institutions: Henan University of Science and Technology, Beihang University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Chinese Aeronautical Establishment