Observer-Based Prescribed-Time Event-Triggered Formation Control of Multi-QUAV
Shuai Zhang, Meiling Tao, Wuhao Fang, Haoran Tang, Wenjun Xiao · 2025
In this paper, a prescribed-time anti-disturbance event-triggered formation control (PAEFC) method is proposed to solve the multi-QUAV formation control problems with mismatched disturbances, matched disturbances (including unknown external disturbances, model uncertainties), and energy saving of controller transmission. Firstly, a prescribed-time distributed disturbance observer (PTDDO) is designed to estimate and mitigate mismatched and matched disturbances. Secondly, a first-order filter is integrated into the backstepping method to prevent the “differential explosion” issue resulting from multiple derivations of the virtual input. Subsequently, the event-triggered (ET) mechanism is integrated into the formation control to lower the controller's energy consumption, and a prescribed-time distributed formation controller (PDFC) is developed to make the formation trajectory tracking converge within a prescribed time. Finally, the simulation outcomes present the effectiveness of the designed control method.