Adaptive time-varying formation tracking control of unmanned aerial vehicles with quantized input

Yuan Wang; Lei He; Changqiang Huang

doi:10.1016/j.isatra.2018.09.013

Adaptive time-varying formation tracking control of unmanned aerial vehicles with quantized input

ISA Trans. 2019 Feb:85:76-83. doi: 10.1016/j.isatra.2018.09.013. Epub 2018 Oct 3.

Authors

Yuan Wang¹, Lei He², Changqiang Huang¹

Affiliations

¹ Engineering College of Aeronautics and Astronautics, Air Force Engineering University, Xi'an, 710038, China.
² Engineering College of Aeronautics and Astronautics, Air Force Engineering University, Xi'an, 710038, China. Electronic address: hb1303101@buaa.edu.cn.

PMID: 30366714
DOI: 10.1016/j.isatra.2018.09.013

Abstract

This paper considers the adaptive time-varying formation tracking control of unmanned aerial vehicles (UAVs) with quantized input. Uncertainties and nonholonomic constraint are involved in the UAV model. With a novel transformation of the final control signal, a very coarse quantization can be achieved. Adaptive quantized controllers are proposed by employing backstepping technique. It is proved that, with our proposed strategy, all signals of the closed-loop system are globally uniformly bounded, and the formation tracking error converges to an arbitrarily small residual set. Simulation results are given to illustrate the effectiveness of the proposed strategy.

Keywords: Adaptive backstepping; Formation tracking; Nonlinear systems; Quantization.