TY - GEN
T1 - Distributed Control of Multi-unmanned Aerial Vehicle Circumnavigation Formation Based on Partial Differential Equations
AU - Yue, Haoran
AU - Wu, Yanxuan
AU - Tong, Xiaoming
AU - Chen, Hao
AU - Wang, Zhengjie
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024
Y1 - 2024
N2 - To address the issue of acquiring the desired relative position information between individual unmanned aerial vehicle and target in multi-unmanned aerial vehicle (UAV) system circumnavigation, this paper designs a distributed control law under chain communication topology based on the partial differential equation (PDE) model. Through the discrete form of PDE, the non-endpoint drones only require the state information of neighboring drones without the need for self and target relative position information. Additionally, a Kalman filter is designed to estimate the absolute position of the target, eliminating the impact of communication delay and noise on target information transmission. Finally, numerical simulations verify the correctness and fleet performance of the designed control law. This paper explores a distributed solution without global information for multi-unmanned aerial vehicle system circumnavigation, which has theoretical and application value.
AB - To address the issue of acquiring the desired relative position information between individual unmanned aerial vehicle and target in multi-unmanned aerial vehicle (UAV) system circumnavigation, this paper designs a distributed control law under chain communication topology based on the partial differential equation (PDE) model. Through the discrete form of PDE, the non-endpoint drones only require the state information of neighboring drones without the need for self and target relative position information. Additionally, a Kalman filter is designed to estimate the absolute position of the target, eliminating the impact of communication delay and noise on target information transmission. Finally, numerical simulations verify the correctness and fleet performance of the designed control law. This paper explores a distributed solution without global information for multi-unmanned aerial vehicle system circumnavigation, which has theoretical and application value.
KW - Coordinated circumnavigation
KW - distributed control
KW - multi-unmanned aerial vehicle system
UR - http://www.scopus.com/inward/record.url?scp=85199315134&partnerID=8YFLogxK
U2 - 10.1007/978-981-97-3328-6_17
DO - 10.1007/978-981-97-3328-6_17
M3 - Conference contribution
AN - SCOPUS:85199315134
SN - 9789819733279
T3 - Lecture Notes in Electrical Engineering
SP - 192
EP - 204
BT - Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Control Technologies
A2 - Wang, Qing
A2 - Dong, Xiwang
A2 - Song, Peng
PB - Springer Science and Business Media Deutschland GmbH
T2 - 7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023
Y2 - 24 November 2023 through 27 November 2023
ER -