Fixed‐time backstepping distributed cooperative control for multiple unmanned aerial vehicles

Abstract

This paper proposes a fixed‐time backstepping distributed cooperative control scheme based on fixed‐time extended state observer (FxTESO) for multiple unmanned aerial vehicles (UAVs). A fixed‐time ESO, which is convergent independently of initial conditions, is designed to estimate and compensate the external disturbances in tracking process. Moreover, to eliminate the “explosion of complexity” in the traditional backstepping architecture, a nonlinear first‐order filter is adopted to construct the distributed fixed‐time control scheme. Based on the local information of neighboring UAVs, a fixed‐time backstepping cooperative controller is designed. The proposed formation algorithm can be shown practicable for the UAV control system by using of Lyapunov stability theory and graph theory. Simulation results are given to demonstrate the effectiveness of the proposed control scheme.

Fixed‐time disturbance observer‐based fixed‐time path following control for small fixed‐wing UAVs under wind disturbances

“…In recent years many successful applications of unmanned aerial vehicles (UAVs) have been witnessed in different domains, ranging from environmental monitoring, search and rescue to surveillance and reconnaissance. 1,2 Most of the common UAV tasks are generally divided into trajectory tracking problem 3 and path following problem. 4 Unlike the trajectory tracking problem where the UAV should arrive at a particular location in a certain time, the path following problem only requires the UAV to follow some geometric paths with feasible speed profiles.…”

Nonlinear recursive gain asymptotic tracking controller design for hydraulic turbine regulating systems

“…In addition, a critical neural network is used to estimate the optimal control solution of the HJB equation, guaranteeing that the system state error is uniformly ultimate bounded. For multiple unmanned aerial vehicles (UAVs), a fixed-time backstepping distributed cooperative control scheme [14] was proposed based on a fixed-time extended state observer (FxTESO). To estimate and account for the external disturbances in the tracking process, a fixed-time ESO was used regardless of the initial conditions.…”

Fixed‐time fuzzy adaptive robust H∞ control for nonstrict‐feedback nonlinear systems with input saturation and output constraints

“…After introducing fixed‐time control in Reference 20, many researchers addressed the issue of fixed‐time control and reported satisfactory results for a wide range of nonlinear systems 7,16,18,22‐26 . Also, the fixed‐time approach has been used for many practical systems, among which the following can be mentioned: consensus control of multi‐agent systems, 27‐30 control for multiple unmanned aerial vehicles (UAVs) in Reference 31, control for an air‐breathing hypersonic vehicle in Reference 32, attitude control for spacecraft, 33‐35 and tracking control for permanent magnet synchronous motor 36 …”