典型文献
Periodic event-triggered formation control for multi-UAV systems with collision avoidance
文献摘要：
In this paper,periodic event-triggered formation control problems with collision avoid-ance are studied for leader-follower multiple Unmanned Aerial Vehicles(UAVs).Firstly,based on the Artificial Potential Field(APF)method,a novel sliding manifold is proposed for controller design,which can solve the problem of collision avoidance.Then,the event-triggered strategy is applied to the distributed formation control of multi-UAV systems,where the evaluation of the event condition is continuous.In addition,the exclusion of Zeno behavior can be guaranteed by the inter-event time between two successive trigger events have a positive lower bound.Next,a peri-odic event-triggered mechanism is developed for formation control based on the continuous event-triggered mechanism.The periodic trigger mechanism does not need additional hardware circuits and sophisticated sensors,which can reduce the control cost.The stability of the control system is proved by the Lyapunov function method.Finally,some numerical simulations are presented to illustrate the effectiveness of the proposed control protocol.
文献关键词：
中图分类号：
作者姓名：
Tong WU;Jie WANG;Bailing TIAN
作者机构：
School of Artificial Intelligence,Hebei University of Technology,Tianjin 300130,China;Institute of Artificial Intelligence,University of Science and Technology Beijing,Beijing 100083,China;School of Electric and Information Engineering,Tianjin University,Tianjin 300072,China
文献出处：
引用格式：
[1]Tong WU;Jie WANG;Bailing TIAN-.Periodic event-triggered formation control for multi-UAV systems with collision avoidance)[J].中国航空学报（英文版）,2022(08):193-203
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B类：
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AB值：
0.53666
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