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| Safe formation control ofmultiple unmanned aerial vehicles: control design and safety-stability analysis |
| HaoqiLi1,JiangpingHu1,2,QingruiZhou3,BijoyK.Ghosh1,4 |
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| (1 School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, Sichuan, China;2 Yangtze Delta Region Institute (Huzhou), University of Electronic Science and Technology of China, Huzhou 313000, Zhejiang, China;3 Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, China;4 Department of Mathematics and Statistics, Texas Tech University, Lubbock, TX 79409-1042, USA) |
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| 摘要: |
| Both safety and stability are primary performance criteria for multi-unmanned aerial vehicle (multi-UAV) systems in many
coordination tasks. Existing approaches often consider safety and stability separately. It is necessary and urgent to develop
a safety-stability control strategy to merge these two performance criteria. In this paper, a unified approach is developed to
consider safety and stability for multi-UAV formation control. The stability criterion is represented by a Lyapunov function
and safety criterion is represented by a barrier function and then a relaxed converse control Lyapunov-barrier theorem is
obtained. With the help of a relaxed converse control Lyapunov-barrier function (RCCLBF), a distributed safety-stability
formation control strategy is proposed for the multi-UAV system. By transforming the solution of RCCLBF to a Lyapunovlike
stabilization problem, we show that the proposed formation control strategy can drive the UAVs staying within a specified
safe set. Simulation results are provided to validate the proposed safety-stability formation control strategy. |
| 关键词: Multi-UAV system · Formation control · Lyapunov function · Barrier function · Stability with safety guarantee |
| DOI：https://doi.org/10.1007/s11768-024-00209-7 |
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| 基金项目:This work was supported in part by the National Key Research and Development Program of China (No. 2022YFE0133100), in part by the National Natural Science Foundation of China (No. 62203089), and in part by the Sichuan Science and Technology Program (Nos. 24NSFSC1362, 2020YFSY0012). |
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| Safe formation control ofmultiple unmanned aerial vehicles: control design and safety-stability analysis |
| Haoqi Li1,Jiangping Hu1,2,Qingrui Zhou3,Bijoy K. Ghosh1,4 |
| (1 School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, Sichuan, China;2 Yangtze Delta Region Institute (Huzhou), University of Electronic Science and Technology of China, Huzhou 313000, Zhejiang, China;3 Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, China;4 Department of Mathematics and Statistics, Texas Tech University, Lubbock, TX 79409-1042, USA) |
| Abstract: |
| Both safety and stability are primary performance criteria for multi-unmanned aerial vehicle (multi-UAV) systems in many
coordination tasks. Existing approaches often consider safety and stability separately. It is necessary and urgent to develop
a safety-stability control strategy to merge these two performance criteria. In this paper, a unified approach is developed to
consider safety and stability for multi-UAV formation control. The stability criterion is represented by a Lyapunov function
and safety criterion is represented by a barrier function and then a relaxed converse control Lyapunov-barrier theorem is
obtained. With the help of a relaxed converse control Lyapunov-barrier function (RCCLBF), a distributed safety-stability
formation control strategy is proposed for the multi-UAV system. By transforming the solution of RCCLBF to a Lyapunovlike
stabilization problem, we show that the proposed formation control strategy can drive the UAVs staying within a specified
safe set. Simulation results are provided to validate the proposed safety-stability formation control strategy. |
| Key words: Multi-UAV system · Formation control · Lyapunov function · Barrier function · Stability with safety guarantee |
