Distributed Formation Control of UAVs for Circumnavigating a Moving Target in Three-Dimensional Space
作者机构：School of Information Science and Engineering Northeastern University ShenyangLiaoningP.R.China
出 版 物：《Guidance, Navigation and Control》 (制导、导航与控制（英文）)
年 卷 期：2021年第1卷第3期
页 面：76-97页
学科分类：07[理学] 0701[理学-数学] 070101[理学-基础数学]
基 金：supported in part by the National Natural Science Foundation of China(61703081,62173082) the Liaoning Joint Fund of National Natural Science Foundation of China(U1908217) the Liaoning Revitalization Talents Program(XLYC1801005) Natural Science Foundation of Liaoning Province(20170520113) and the Fundamental Research Funds for the Central Universities(N2004016)
主 题：Formation control target tracking and circumnavigating formation dynamic feedback linearization distributed control exponential stability
摘 要：In this paper,a novel formation control strategy is proposed to address the target tracking and circumnavigating problem of multi-UAV ***,two sets of definitions,space angle definition and space vector definition,are presented in order to describe the flight state and construct the desired relative ***,the relative kinematic model between the UAV and the moving target is *** distributed control law is constructed by using dynamic feedback linearization so as to realize the tracking and circumnavigating control with the desired velocity,circing radius and relative angular ***,the exponential stability of the closed-loop system is further guaranteed by properly choosing some corresponding parameters based on the Lyapunov ***,the numerical simulation is caried out to verify the effectiveness of the proposed control method.
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