This paper investigates the problem of aggregation control and robust formation tracking control for the fixed-wing UAV swarm system after aggregation. Firstly, the dynamic models for aggregation control and formation tracking control of the fixed-wing UAV swarm system are established. Secondly, to solve the problem of large initial takeoff position deviation for multiple unmanned aerial vehicles, a consensus-based aggregation control algorithm is designed to converge the UAV swarm system to any position on a hovering circle to provide proper initial conditions for subsequent tasks. Thirdly, in the formation tracking control process, a nonlinear path tracking control algorithm is employed for leader UAV, and a formation tracking control algorithm based on leader-following navigation is designed for follower UAV swarm system. Finally, simulation results demonstrate that the proposed aggregation control algorithm enables rapid convergence of the UAV swarm system’s initial positions, and the designed formation tracking control achieves algorithm achieves fine formation tracking performance.


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    Title :

    Consensus-Based Aggregation Control and Formation Tracking Control for Fixed-Wing UAV Swarm System


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wang, Qing (editor) / Dong, Xiwang (editor) / Song, Peng (editor) / Hao, Ze (author) / Yu, Jianglong (author) / Chen, Yang (author) / Hu, Yangxiu (author) / Dong, Xiwang (author) / Ren, Zhang (author)

    Conference:

    Chinese Conference on Swarm Intelligence and Cooperative Control ; 2023 ; Nanjing, China November 24, 2023 - November 27, 2023



    Publication date :

    2024-06-15


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English