Adaptive formation tracking control for UAV swarm systems with multiple leaders and switching topologies
Yuxin Xie, Liang Han, Lei Zhang, Xiwang Dong, Qingdong Li, Zhang Ren · 2020
Adaptive formation tracking problems for UAV swarm systems are studied. An adaptive formation tracking protocol using neighboring relative state information is proposed, which can adjust the time-varying coupling weights among neighboring UAVs. It is proved that the adaptive formation tracking can be achieved under the proposed protocol. Finally, numerical simulation examples are given to demonstrate the effectiveness of the theoretical results.