A composite system theory-based guidance law for cooperative target circumnavigation of UAVs

Min, Zhang; Jia, Jiangbo; Mei, Jingsong

doi:10.1016/j.ast.2021.107034

Cited by 18 publications

(8 citation statements)

References 32 publications

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“…Lemma 2.1. The system (7) can be modelled as an interconnection of lower order subsystems, the isolated subsystems f i and the interconnection terms g i .…”

Section: A Technical Lemmamentioning

confidence: 99%

“…Target encirclement and tracking requires the UAV to surround the target with flexible control commands while following the movement of the target, as shown in Figure 1. Many scholars have devoted themselves to the research of related problems in this field and have given multiple solutions [7][8][9][10][11][12]. Target encirclement and tracking using various trackers, such as agents, particles, unicycles, robots, UAVs, and other entities, has indeed become a hot topic and garnered considerable attention in the research community.…”

Section: Introductionmentioning

confidence: 99%

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Event‐triggered cooperative control for moving target encirclement and tracking with time‐varying pattern by UAV formation

Jia,

Chen,

Wang

et al. 2023

IET Control Theory & Appl

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This paper investigates an event‐triggered cooperative control policy of moving‐target encirclement and tracking with time‐varying radius commands for unmanned aerial vehicle (UAV) formation. Different from the existing works, this study takes into account the relative motion model between the UAVs and the target in order to design a guidance law specifically tailored for moving‐target encirclement and tracking. Additionally, a time‐varying radius command is introduced, allowing the radius of the circular orbit formed by the UAVs around the target to adjust according to the commands. This flexibility and adaptability enhance the UAV formation's performance in complex work scenes and unstructured geometric spaces. To address the concerns of communication and computing costs associated with time‐triggered guidance laws, an event‐triggered method is proposed for dynamic target encirclement and tracking, eliminating the occurrence of Zeno behaviour. The stability of the proposed guidance laws is mathematically proven using the interconnected systems lemma. Finally, the effectiveness of the controllers is verified by some simulations.

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“…Lemma 2.1. The system (7) can be modelled as an interconnection of lower order subsystems, the isolated subsystems f i and the interconnection terms g i .…”

Section: A Technical Lemmamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Event‐triggered cooperative control for moving target encirclement and tracking with time‐varying pattern by UAV formation

Jia,

Chen,

Wang

et al. 2023

IET Control Theory & Appl

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“…A novel Lyapunov non-uniform approach based on vector fields is proposed in [191] that enables an entire group of aircraft to follow a circular path around the target while making a formation with relative phase-shift angles between UAVs. Recently, a novel guidance control law is designed for multiple UAVs to circumnavigate a ground-moving target [192]. The authors in [193] proposed a robust control technique by using the backstepping approach to solve the circumnavigation problem of group heterogeneous MASs.…”

Section: Circular Formation Using the Artificial Potential Functionsmentioning

confidence: 99%

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

2021

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Distributed control solutions to the multi-agent systems in terms of coordination, formation, and consensus problems are extensively studied in the literature. The circular formation control of multi-agent systems becomes one of the most challenging and active research topics in distributed cooperative control. The research potential of circular formation control has grown especially in satellite formation and control. The circular formation control aims to drive a group of agents to move on a circular trajectory around a center with spacing adjustment to avoid the collision. This paper covers the fundamental research in consensus and formation control and the latest developments in the applications of formation control especially in circular formation control and stability analysis. Literature related to various control streams to achieve circular formation is discussed. Algebraic graph theory is used as a building block in problem definition, problem formulation, and solutions. A review of bearing, range, and received signal strength measurements with respect to circular formation control is presented. Leader following, behavior-based, artificial potential function, virtual structure, and cyclic pursuit are the methods discussed most in this context. The stabilization of the collective circular motion with the unicycles approach is also discussed. Further results on circular formation, several applications, and future research directions are presented.

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“…In Miao et al [25], using the backstepping method, two controllers are proposed to solve the circumnavigation problem in polar coordinates and Cartesian coordinates, and one of the controllers uses distance and azimuth measurement information. In Zhang et al [26], a guidance law is designed for cooperative target circumnavigation based on the error of range and angle obtained from sensors. Some studies design control methods based on bearing‐only.…”

Section: Introductionmentioning

confidence: 99%

“…Clearly, the existing range-based controller cannot be applied to the problem of cooperative encirclement by multi-UAV. Based on explorations [26,31], this study will propose a distributed guidance law of target cooperative encirclement and tracking using range measurements for UAV formation with limited measurement and communication. Compared with most existing relevant research, the main contributions and novelties of this paper are as follows.…”

Section: Introductionmentioning

confidence: 99%

Distributed control of target cooperative encirclement and tracking using range‐based measurements

Jia

Chen

Wang

et al. 2023

Asian Journal of Control

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This paper investigates a distributed coordinate‐free control method of ground target cooperative encirclement and tracking for an unmanned aerial vehicle (UAV) formation. Different from the existing methods, the relevant information for the circumnavigation can be measured by the UAV sensors rather than directly from the tracked target. Based on these distance measurements, a multi‐UAV encirclement guidance law that satisfies both target coordination and tracking is designed. According to the proposed lemma of interconnected system, the formation system under the guidance law is globally uniformly asymptotically stable. The effectiveness and advantages of the proposed controller are validated via simulations.

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A composite system theory-based guidance law for cooperative target circumnavigation of UAVs

Cited by 18 publications

References 32 publications

Event‐triggered cooperative control for moving target encirclement and tracking with time‐varying pattern by UAV formation

Event‐triggered cooperative control for moving target encirclement and tracking with time‐varying pattern by UAV formation

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

Distributed control of target cooperative encirclement and tracking using range‐based measurements

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