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Collision-Free Adaptive Control for UAV Formation with Input Saturation and Communication Delays
Jianhui Lu,Fan Luo,Zhong Zheng,Mingxin Hou,Lin Wang 한국항공우주학회 2022 International Journal of Aeronautical and Space Sc Vol.23 No.3
This paper addresses the collision-free adaptive formation control problem for multiple unmanned aerial vehicles subject to input saturation and communication delays. First, a novel collision-free adaptive saturated control scheme is proposed using potential function and anti-windup compensator approaches. It shows that the velocity consensus and collision avoidance are realized when the directed communication topology is strongly connected. Second, the collision-free adaptive saturated control algorithm is proposed considering communication delays and collision avoidance, and it enables the asymptotic stability of the closed-loop system when the time-varying communication delays are decreasing to zero eventually. Finally, numerical simulations demonstrate that the proposed control approaches are effective, while the objectives of collision avoidance and velocity consensus are fulfilled.