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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Vydané v:	IEEE transactions on vehicular technology Ročník 74; číslo 10; s. 15619 - 15630
Hlavní autori:	Yan, Yancheng, Liang, Hongjing, Cheng, Yuhua, Li, Tieshan
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	New York IEEE 01.10.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	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
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Abstract	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.
AbstractList	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.
Author	Yan, Yancheng Cheng, Yuhua Liang, Hongjing Li, Tieshan
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SubjectTerms	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
Title	Robust Distributed Formation Control for Heterogeneous UAVs-UGVs Systems: An Adaptive Asymptotic Funnel Control Approach
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