Robust Distributed Formation Control for Heterogeneous UAVs-UGVs Systems: An Adaptive Asymptotic Funnel Control Approach

This paper is concerned with the distributed formation control problem of heterogeneous uncrewed aerial vehicles-uncrewed ground vehicles (UAVs-UGVs) systems, in the presence of practical factors such as parametric and dynamics uncertainties, external disturbances, coupled dynamics, and communicatio...

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Bibliographic Details
Published in:IEEE transactions on vehicular technology Vol. 74; no. 10; pp. 15619 - 15630
Main Authors: Yan, Yancheng, Liang, Hongjing, Cheng, Yuhua, Li, Tieshan
Format: Journal Article
Language:English
Published: New York IEEE 01.10.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Adaptive systems
Asymptotic properties
Asymptotic stability
Autonomous aerial vehicles
Complexity
Control systems
distributed formation control
Formation control
funnel control
heterogeneous UAVs-UGVs systems
Land vehicles
Noise
robust adaptive control
Robust control
Steady-state
Transient analysis
Unmanned aerial vehicles
Unmanned ground vehicles
Vectors
Vehicle dynamics
Wheels
ISSN:0018-9545, 1939-9359
Online Access:Get full text
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Summary:This paper is concerned with the distributed formation control problem of heterogeneous uncrewed aerial vehicles-uncrewed ground vehicles (UAVs-UGVs) systems, in the presence of practical factors such as parametric and dynamics uncertainties, external disturbances, coupled dynamics, and communication noises. First, we establish a model for the heterogeneous UAVs-UGVs system with such practical factors. Subsequently, a new robust distributed formation control strategy is developed. To be specific, by implementing a delicate transformation with a special funnel function, together with fusing an adaptive asymptotic funnel control approach, a funnel-based formation control strategy is constructed. In comparison to the current outcomes, this strategy demonstrates the subsequent salient characteristics: 1) enhancing the robustness of the considered system subject to such practical factors; 2) achieving the asymptotic formation control with predefined global funnel performance constraints; 3) lowering computational and structural complexity without function approximation, switching of the controller structure, and complex nonlinear terms. Ultimately, the theoretical assertions are validated via the simulation paradigm.
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ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2025.3573308