This paper considers the pursuit problem of a moving target by a swarm of drones through a flexible-configuration formation. The drones are modeled by second-order systems subject to uncertain damping ratios, whereas the moving target follows a polynomial-type trajectory whose coefficient vectors are fully unknown. Due to location denial, drones cannot obtain their absolute positions, but they can obtain their positions relative to other neighboring drones and the target. To achieve a robust formation pursuit, a robust cooperative control protocol is synthesized, which comprises three key components, namely, the pseudo drone position estimator, the pseudo target position estimator, and the local internal model control (IMC) law. The pseudo drone position estimator and the pseudo target position estimator aim to recover for each drone the position of itself and the target, respectively, but are subject to some common unknown constant bias in a distributed manner. By subtracting the pseudo target position from the pseudo drone position, each drone can acquire its position relative to the target, which facilitates the design of a local IMC law to fulfill formation pursuit in the presence of system parametric uncertainties. Both pure numerical simulation and hardware-in-the-loop (HIL) simulation are performed to verify the effectiveness of the proposed control protocol.


    Access

    Download


    Export, share and cite



    Title :

    Drone Swarm Robust Cooperative Formation Pursuit through Relative Positioning in a Location Denial Environment


    Contributors:
    Huanli Gao (author) / Aixin Zhang (author) / Wei Li (author) / He Cai (author)


    Publication date :

    2024




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Overview of UAV Swarm Communication and Cooperative Operation in Denial Environment

    Yan, Yajing / Wu, Bi / Yang, Hang et al. | Springer Verlag | 2024


    Networked Cooperative Swarm System for Area Denial Operations

    Anderson, Michael L. / Rios, John / Stone, David et al. | AIAA | 2016


    Networked Cooperative Swarm System for Area Denial Operations (AIAA 2016-1494)

    Anderson, Michael L. / Rios, John / Stone, David et al. | British Library Conference Proceedings | 2016


    Robust Optimization Models for Planning Drone Swarm Missions

    Robert Panowicz / Wojciech Stecz | DOAJ | 2024

    Free access

    Swarm Operation of Heterogeneous Electronic Countermeasure UAV in Denial Environment

    Ren, Mingqiu / Leng, Yi / Guo, Qian | Springer Verlag | 2022