Systems Engineering and Electronics ›› 2023, Vol. 45 ›› Issue (10): 3274-3285.doi: 10.12305/j.issn.1001-506X.2023.10.32

• Guidance, Navigation and Control • Previous Articles    

Adaptive group formation tracking-containment control for heterogeneous unmanned swarm

Yi ZHANG, Hao YU, Xiuxia YANG, Zijie JIANG   

  1. Aviation Combat Service College, Naval Aviation University, Yantai 264001, China
  • Received:2022-06-02 Online:2023-09-25 Published:2023-10-11
  • Contact: Hao YU

Abstract:

In view of the group tracking-containment control problem of heterogeneous unmanned swarm with unknown targets maneuver, a distributed hierarchical cooperative control framework is proposed based on output regulation strategy. All kinds of agents in the system adopt heterogeneous model. While the leaders track the target output in the expected output formation, the output of the followers are driven to converge to the convex hull of the leaders. Based on observer theory, consensus theory, and adaptive control theory, a distributed tracking containment control protocol with time-varying coupling weights is designed, which overcomes the dependence of control input on global information and realizes the effective suppression of unknown control input of targets. The feasibility conditions of the desired output formation are further analyzed, and the stability of the closed-loop system is proven by Lyapunov theory. Finally, simulation example verifies that the proposed control strategy can realize the target tracking-containment of unmanned aerial vehicle-unmanned ground vehicle heterogeneous group formation.

Key words: heterogeneous unmanned swarm, group formation, tracking-containment control, adaptive control, observer theory

CLC Number: 

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