Distributed Tracking of Unmanned Aerial Vehicles with Switching Interactions

摘要

This paper addresses the distributed control problem of multiple Unmanned Aerial Vehicles tracking a three-dimensional trajectory. Each vehicle only interacts with its local neighbors through switching interaction topology. Three related sub-problems are discussed in a unified control scheme: the distributed trajectory tracking, the trajectory tracking with input saturation, and the trajectory tracking with collision avoidance. The nonlinearities in the dynamics of vehicles are transformed into linear systems by feedback linearization. For the trajectory tracking problem, a distributed feedback control was derived by state feedback. With the consideration of bounded control inputs, a bounded distributed feedback control with input saturation was proposed. To deal with vehicle collision, an extended distributed feedback control with position offsets was presented. Simulations show the effectiveness of the proposed control algorithms.