Bounded-Gain Prescribed-Time Robust Spatiotemporal Cooperative Guidance Law for UAVs Under Jointly Strongly Connected Topologies
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 cooper...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-07-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/9/7/474 |
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| author | Mingxing Qin Le Wang Jianxiang Xi Cheng Wang Shaojie Luo |
| author_facet | Mingxing Qin Le Wang Jianxiang Xi Cheng Wang Shaojie Luo |
| author_sort | Mingxing Qin |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-5baac95c819d4cb286a87fa19e537c74 |
| institution | DOAJ |
| issn | 2504-446X |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-5baac95c819d4cb286a87fa19e537c742025-08-20T03:08:09ZengMDPI AGDrones2504-446X2025-07-019747410.3390/drones9070474Bounded-Gain Prescribed-Time Robust Spatiotemporal Cooperative Guidance Law for UAVs Under Jointly Strongly Connected TopologiesMingxing Qin0Le Wang1Jianxiang Xi2Cheng Wang3Shaojie Luo4College of Missile Engineering, Rocket Force University of Engineering, Xi’an 710025, ChinaCollege of Missile Engineering, Rocket Force University of Engineering, Xi’an 710025, ChinaCollege of Missile Engineering, Rocket Force University of Engineering, Xi’an 710025, ChinaCollege of Missile Engineering, Rocket Force University of Engineering, Xi’an 710025, ChinaCollege of Missile Engineering, Rocket Force University of Engineering, Xi’an 710025, ChinaThis 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.https://www.mdpi.com/2504-446X/9/7/474cooperative guidanceprescribed-time stabilityjointly strongly connected topologiesrobust guidancespatiotemporal constraintbounded gain |
| spellingShingle | Mingxing Qin Le Wang Jianxiang Xi Cheng Wang Shaojie Luo Bounded-Gain Prescribed-Time Robust Spatiotemporal Cooperative Guidance Law for UAVs Under Jointly Strongly Connected Topologies Drones cooperative guidance prescribed-time stability jointly strongly connected topologies robust guidance spatiotemporal constraint bounded gain |
| title | Bounded-Gain Prescribed-Time Robust Spatiotemporal Cooperative Guidance Law for UAVs Under Jointly Strongly Connected Topologies |
| title_full | Bounded-Gain Prescribed-Time Robust Spatiotemporal Cooperative Guidance Law for UAVs Under Jointly Strongly Connected Topologies |
| title_fullStr | Bounded-Gain Prescribed-Time Robust Spatiotemporal Cooperative Guidance Law for UAVs Under Jointly Strongly Connected Topologies |
| title_full_unstemmed | Bounded-Gain Prescribed-Time Robust Spatiotemporal Cooperative Guidance Law for UAVs Under Jointly Strongly Connected Topologies |
| title_short | Bounded-Gain Prescribed-Time Robust Spatiotemporal Cooperative Guidance Law for UAVs Under Jointly Strongly Connected Topologies |
| title_sort | bounded gain prescribed time robust spatiotemporal cooperative guidance law for uavs under jointly strongly connected topologies |
| topic | cooperative guidance prescribed-time stability jointly strongly connected topologies robust guidance spatiotemporal constraint bounded gain |
| url | https://www.mdpi.com/2504-446X/9/7/474 |
| work_keys_str_mv | AT mingxingqin boundedgainprescribedtimerobustspatiotemporalcooperativeguidancelawforuavsunderjointlystronglyconnectedtopologies AT lewang boundedgainprescribedtimerobustspatiotemporalcooperativeguidancelawforuavsunderjointlystronglyconnectedtopologies AT jianxiangxi boundedgainprescribedtimerobustspatiotemporalcooperativeguidancelawforuavsunderjointlystronglyconnectedtopologies AT chengwang boundedgainprescribedtimerobustspatiotemporalcooperativeguidancelawforuavsunderjointlystronglyconnectedtopologies AT shaojieluo boundedgainprescribedtimerobustspatiotemporalcooperativeguidancelawforuavsunderjointlystronglyconnectedtopologies |