Collision avoidance in target encirclement and tracking of unmanned aerial vehicles under a dynamic event-triggered formation control

This paper addresses the dynamic event -triggered fixed -time distributed control problem of unmanned aerial vehicle (UAV) formation for target encirclement and tracking with collision avoidance. A fixed -time radial basis function (RBF) neural network (NN) adaptive disturbance observer is designed for faster estimation and compensation of the lumped disturbances from the UAV formation system. By extending the lemmas of interconnected systems and fixed -time, a novel fixed -time interconnected system lemma is proposed. Then, a dynamic event -triggered control algorithm is proposed to establish the stability of the complex closed -loop interconnected system for target encirclement and formation tracking in fixed time and to demonstrate that the convergence time of the system is independent of the initial state. Subsequently, a risk avoidance mechanism is incorporated into the event -triggered fixed -time control framework to avoid collisions within the UAV formation. The proposed control strategy has been rigorously mathematically demonstrated. Finally, using a visual simulation platform, several simulations are presented to illustrate the remarkable performance and superiority of the proposed control method.