Distribute d DETMs-base d internal collision avoidance control for UAV formation with lumped disturbances

This work focuses on the internal collision avoidance control for unmanned aerial vehi-cle (UAV) formation based on distributed dynamic event-triggered mechanisms (DETMs) and composite disturbance observers. To decrease the transmission rate of the redun-dant data and alleviate the communication network burden, a method of designing dis-tributed event-triggered mechanisms with dynamic triggering threshold functions is pro-posed, which are related to tracking errors, triggering errors and consistency errors. By taking the lumped disturbances into account, which include the primary disturbance gen-erated by exogenous system and the secondary disturbance effects from adjacent UAVs, a composite disturbance observer is constructed for each UAV to counteract the negative ef-fects of the unknown disturbances. Moreover, by referring to the prescribed performance control method, a consensus controller, which can avoid the internal collision among the multiple UAVs, is presented for each UAV to achieve the control target. The stability of the closed-loop system can be guaranteed by using the Lyapunov stability theory, along with the gains of controller and observers being represented in explicit forms. Finally, a simula-tion example regarding six UAVs testifies the availability of the proposed control strategy.(c) 2022 Elsevier Inc. All rights reserved.