Multiple UAVs cooperative formation forming control based on back-stepping-like approach

作     者：ZHANG Liang LU Yi XU Shida FENG Han 

作者机构：Aeronautical Engineering College Air Force Engineering University 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2018年第29卷第4期

页      面：816-822页

核心收录：

学科分类：0810[工学-信息与通信工程] 0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 082503[工学-航空宇航制造工程] 0802[工学-机械工程] 081001[工学-通信与信息系统] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：unmanned aerial vehicle (UAV) formation reaching guidance law stability. 

摘      要：To ensure multiple unmanned aerial vehicles （UAVs）reach stable formation quickly, a cooperative guidance law basedon the back-stepping-like approach is designed in this *** the guidance mechanism of virtue leader vehicle, thedynamic equation of tracking errors for each UAV is built. Thecommunication interactive relationships are described based ongraph theory, and the guidance law for formation reaching is ob-tained by the back-stepping-like approach. The formation stabilityis analyzed by constructing an appropriate Lyapunov function. Thesimulation results have shown that this guidance and control lawcan make each UAV converge to the trajectory of the virtue leaderultimately, and has the quicker rate of convergence and lowertracking error.