Finite-Time Formation of Unmanned Aerial Vehicles with Switching Topologies and Disturbances: An Average Dwell Time Approach
This paper investigates the finite-time formation problem of unmanned aerial vehicles (UAVs) with switching topologies and external disturbances. The formation problem is first transformed into the finite-time stability and bounded problems of a switched system, respectively. In particular, the fini...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/8641828 |
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| _version_ | 1832568296777449472 |
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| author | Chao Ma Wei Wu |
| author_facet | Chao Ma Wei Wu |
| author_sort | Chao Ma |
| collection | DOAJ |
| description | This paper investigates the finite-time formation problem of unmanned aerial vehicles (UAVs) with switching topologies and external disturbances. The formation problem is first transformed into the finite-time stability and bounded problems of a switched system, respectively. In particular, the finite-time unachievable topology is concerned for unreliable information exchanges. By employing the average dwell time (ADT) method, sufficient criteria are established to deal with the switching topologies such that the desired time-varying formation can be achieved in finite time. Then, the topology-dependent controller can be designed in terms of matrix technique. Finally, an illustrative example is given to verify the effectiveness of our proposed formation strategy. |
| format | Article |
| id | doaj-art-78df2104902f432e9c55728a0c5ba09d |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-78df2104902f432e9c55728a0c5ba09d2025-02-03T00:59:19ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742019-01-01201910.1155/2019/86418288641828Finite-Time Formation of Unmanned Aerial Vehicles with Switching Topologies and Disturbances: An Average Dwell Time ApproachChao Ma0Wei Wu1School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, ChinaThis paper investigates the finite-time formation problem of unmanned aerial vehicles (UAVs) with switching topologies and external disturbances. The formation problem is first transformed into the finite-time stability and bounded problems of a switched system, respectively. In particular, the finite-time unachievable topology is concerned for unreliable information exchanges. By employing the average dwell time (ADT) method, sufficient criteria are established to deal with the switching topologies such that the desired time-varying formation can be achieved in finite time. Then, the topology-dependent controller can be designed in terms of matrix technique. Finally, an illustrative example is given to verify the effectiveness of our proposed formation strategy.http://dx.doi.org/10.1155/2019/8641828 |
| spellingShingle | Chao Ma Wei Wu Finite-Time Formation of Unmanned Aerial Vehicles with Switching Topologies and Disturbances: An Average Dwell Time Approach International Journal of Aerospace Engineering |
| title | Finite-Time Formation of Unmanned Aerial Vehicles with Switching Topologies and Disturbances: An Average Dwell Time Approach |
| title_full | Finite-Time Formation of Unmanned Aerial Vehicles with Switching Topologies and Disturbances: An Average Dwell Time Approach |
| title_fullStr | Finite-Time Formation of Unmanned Aerial Vehicles with Switching Topologies and Disturbances: An Average Dwell Time Approach |
| title_full_unstemmed | Finite-Time Formation of Unmanned Aerial Vehicles with Switching Topologies and Disturbances: An Average Dwell Time Approach |
| title_short | Finite-Time Formation of Unmanned Aerial Vehicles with Switching Topologies and Disturbances: An Average Dwell Time Approach |
| title_sort | finite time formation of unmanned aerial vehicles with switching topologies and disturbances an average dwell time approach |
| url | http://dx.doi.org/10.1155/2019/8641828 |
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