Distributed Prescribed-Time Formation Tracking Control for Multi-UAV Systems with External Disturbances
In time-sensitive aerial missions such as urban surveillance, emergency response, and adversarial airspace operations, achieving rapid and reliable formation control of multi-UAV systems is crucial. This paper addresses the challenge of ensuring robust and efficient formation control under stringent...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-06-01
|
| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/9/7/452 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849303536260612096 |
|---|---|
| author | Ruichi Ren Kaiyu Qin Zhenbing Luo Boxian Lin Meng Li Mengji Shi |
| author_facet | Ruichi Ren Kaiyu Qin Zhenbing Luo Boxian Lin Meng Li Mengji Shi |
| author_sort | Ruichi Ren |
| collection | DOAJ |
| description | In time-sensitive aerial missions such as urban surveillance, emergency response, and adversarial airspace operations, achieving rapid and reliable formation control of multi-UAV systems is crucial. This paper addresses the challenge of ensuring robust and efficient formation control under stringent time constraints. The proposed singularity-free prescribed-time formation (PTF) control scheme guarantees task completion within a user-defined time, independent of initial conditions and control parameters. Unlike existing scaling-based prescribed-time methods plagued by unbounded gains and fixed-time strategies with non-tunable convergence bounds, the proposed scheme uses fixed-time stability theory and systematic parameter tuning to avoid singularity issues while ensuring robustness and predictable convergence. The method also accommodates directed communication topologies and unknown external disturbances, allowing follower UAVs to track a dynamic leader and maintain the desired geometric formation. Finally, some simulation results demonstrate the effectiveness of the proposed control strategy, showcasing its superiority over existing methods and validating its potential for practical applications. |
| format | Article |
| id | doaj-art-bbac68ac26c74beb8a9e482dd6b44957 |
| institution | Kabale University |
| issn | 2504-446X |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-bbac68ac26c74beb8a9e482dd6b449572025-08-20T03:58:26ZengMDPI AGDrones2504-446X2025-06-019745210.3390/drones9070452Distributed Prescribed-Time Formation Tracking Control for Multi-UAV Systems with External DisturbancesRuichi Ren0Kaiyu Qin1Zhenbing Luo2Boxian Lin3Meng Li4Mengji Shi5School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, ChinaCollege of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, ChinaSchool of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, ChinaSchool of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, ChinaIn time-sensitive aerial missions such as urban surveillance, emergency response, and adversarial airspace operations, achieving rapid and reliable formation control of multi-UAV systems is crucial. This paper addresses the challenge of ensuring robust and efficient formation control under stringent time constraints. The proposed singularity-free prescribed-time formation (PTF) control scheme guarantees task completion within a user-defined time, independent of initial conditions and control parameters. Unlike existing scaling-based prescribed-time methods plagued by unbounded gains and fixed-time strategies with non-tunable convergence bounds, the proposed scheme uses fixed-time stability theory and systematic parameter tuning to avoid singularity issues while ensuring robustness and predictable convergence. The method also accommodates directed communication topologies and unknown external disturbances, allowing follower UAVs to track a dynamic leader and maintain the desired geometric formation. Finally, some simulation results demonstrate the effectiveness of the proposed control strategy, showcasing its superiority over existing methods and validating its potential for practical applications.https://www.mdpi.com/2504-446X/9/7/452multi-UAV systemsformation trackingprescribed-time convergenceunknown disturbancesstability analysis |
| spellingShingle | Ruichi Ren Kaiyu Qin Zhenbing Luo Boxian Lin Meng Li Mengji Shi Distributed Prescribed-Time Formation Tracking Control for Multi-UAV Systems with External Disturbances Drones multi-UAV systems formation tracking prescribed-time convergence unknown disturbances stability analysis |
| title | Distributed Prescribed-Time Formation Tracking Control for Multi-UAV Systems with External Disturbances |
| title_full | Distributed Prescribed-Time Formation Tracking Control for Multi-UAV Systems with External Disturbances |
| title_fullStr | Distributed Prescribed-Time Formation Tracking Control for Multi-UAV Systems with External Disturbances |
| title_full_unstemmed | Distributed Prescribed-Time Formation Tracking Control for Multi-UAV Systems with External Disturbances |
| title_short | Distributed Prescribed-Time Formation Tracking Control for Multi-UAV Systems with External Disturbances |
| title_sort | distributed prescribed time formation tracking control for multi uav systems with external disturbances |
| topic | multi-UAV systems formation tracking prescribed-time convergence unknown disturbances stability analysis |
| url | https://www.mdpi.com/2504-446X/9/7/452 |
| work_keys_str_mv | AT ruichiren distributedprescribedtimeformationtrackingcontrolformultiuavsystemswithexternaldisturbances AT kaiyuqin distributedprescribedtimeformationtrackingcontrolformultiuavsystemswithexternaldisturbances AT zhenbingluo distributedprescribedtimeformationtrackingcontrolformultiuavsystemswithexternaldisturbances AT boxianlin distributedprescribedtimeformationtrackingcontrolformultiuavsystemswithexternaldisturbances AT mengli distributedprescribedtimeformationtrackingcontrolformultiuavsystemswithexternaldisturbances AT mengjishi distributedprescribedtimeformationtrackingcontrolformultiuavsystemswithexternaldisturbances |