Predefined-time platoon control of unmanned aerial vehicle with range-limited communication
In this paper, the predefined-time platoon control for multiple uncertain unmanned aerial vehicles (UAVs) under range-limited communication and external disturbance constraints is considered. A novel control scheme, which can guarantee communication connectivity, collision avoidance, and the predefi...
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sg-ntu-dr.10356-1817222024-12-20T15:42:33Z Predefined-time platoon control of unmanned aerial vehicle with range-limited communication Wang, Jiange Fang, Xu Li, Xiaolei School of Electrical and Electronic Engineering Engineering Platoon control Predefined-time convergence In this paper, the predefined-time platoon control for multiple uncertain unmanned aerial vehicles (UAVs) under range-limited communication and external disturbance constraints is considered. A novel control scheme, which can guarantee communication connectivity, collision avoidance, and the predefined convergence time simultaneously, is proposed. To achieve disturbance robustness, an observer-based distributed control law is firstly proposed with a time-varying gain. Then, a radial basis function neural network (RBFNN) with an adaptive tuning law is applied to approximate uncertainties of the system. Under the time and error transformation techniques, uniformly ultimate boundedness (UUB) stability of the closed-loop system is guaranteed within predefined convergence time. Compared with the existing results, the proposed method allows the system to have UUB within any predefined time without depending on the initial conditions or system parameters. Finally, simulation results are presented to verify the derived theorem. Published version This research was funded by National Natural Science Foundation of China under Grants 62103352, 62033011, and 62273294, and also supported in part by Hebei Natural Science Foundation under Grant F2023203056. 2024-12-16T02:56:38Z 2024-12-16T02:56:38Z 2024 Journal Article Wang, J., Fang, X. & Li, X. (2024). Predefined-time platoon control of unmanned aerial vehicle with range-limited communication. Drones, 8(6), 263-. https://dx.doi.org/10.3390/drones8060263 2504-446X https://hdl.handle.net/10356/181722 10.3390/drones8060263 2-s2.0-85197850430 6 8 263 en Drones © 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/). application/pdf |
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Engineering Platoon control Predefined-time convergence Wang, Jiange Fang, Xu Li, Xiaolei Predefined-time platoon control of unmanned aerial vehicle with range-limited communication |
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In this paper, the predefined-time platoon control for multiple uncertain unmanned aerial vehicles (UAVs) under range-limited communication and external disturbance constraints is considered. A novel control scheme, which can guarantee communication connectivity, collision avoidance, and the predefined convergence time simultaneously, is proposed. To achieve disturbance robustness, an observer-based distributed control law is firstly proposed with a time-varying gain. Then, a radial basis function neural network (RBFNN) with an adaptive tuning law is applied to approximate uncertainties of the system. Under the time and error transformation techniques, uniformly ultimate boundedness (UUB) stability of the closed-loop system is guaranteed within predefined convergence time. Compared with the existing results, the proposed method allows the system to have UUB within any predefined time without depending on the initial conditions or system parameters. Finally, simulation results are presented to verify the derived theorem. |
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School of Electrical and Electronic Engineering |
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School of Electrical and Electronic Engineering Wang, Jiange Fang, Xu Li, Xiaolei |
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Article |
author |
Wang, Jiange Fang, Xu Li, Xiaolei |
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Wang, Jiange |
title |
Predefined-time platoon control of unmanned aerial vehicle with range-limited communication |
title_short |
Predefined-time platoon control of unmanned aerial vehicle with range-limited communication |
title_full |
Predefined-time platoon control of unmanned aerial vehicle with range-limited communication |
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Predefined-time platoon control of unmanned aerial vehicle with range-limited communication |
title_full_unstemmed |
Predefined-time platoon control of unmanned aerial vehicle with range-limited communication |
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predefined-time platoon control of unmanned aerial vehicle with range-limited communication |
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2024 |
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https://hdl.handle.net/10356/181722 |
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1819113017689767936 |