Fast Convergent Tracking Control of Networked UAVs Over a Dynamic Interaction Topology
Lin Chen, Haibin Duan, Zhigang Zeng · IEEE Transactions on Circuits & Systems II Express Briefs · 2022
This brief investigates the target tracking control problem for a group of unmanned aerial vehicles (UAVs). Firstly, a neighbor selection mechanism is introduced to design the target state observer to guarantee the fast accessibility of target information to the uninformed UAVs. Then, a distributed tracking control protocol based on the estimated target information is proposed for dynamic target tracking. Meanwhile, proofs about the informed-to-uninformed reachability and the convergence of the group are provided. Finally, comparative simulations are conducted to verify the effectiveness of the proposed algorithm.