Distributed Collision-Free Bearing Coordination of Multi-UAV Systems With Actuator Faults and Time Delays

Wu, Kefan; Hu, Junyan; Li, Zhenhong; Ding, Zhengtao; Arvin, Farshad

Abstract

Coordination of unmanned aerial vehicle (UAV) systems has received great attention from robotics and control communities. In this paper, we investigate the distributed formation tracking problem in heterogeneous nonlinear multi-UAV networks via bearing measurements. Firstly, a novel bearing-only protocol is designed for follower agents to achieve the desired formation. Particularly, we establish a compensation function on the basis of bearing measurements to deal with the non-linearity and actuator faults in the agent dynamics. The stability of the proposed strategy can be ensured by Lyapunov method in the presence of certain time delays. Moreover, to ensure safe operation in real-world scenarios, we extend the protocol and propose a sufficient condition to avoid potential collisions among the agents. The robustness of the collision-free controller with continuous action is also considered in the protocol design. Finally, the simulation case studies are presented to validate the feasibility of the theoretical results.

Citation

Wu, K., Hu, J., Li, Z., Ding, Z., & Arvin, F. (2024). Distributed Collision-Free Bearing Coordination of Multi-UAV Systems With Actuator Faults and Time Delays. IEEE Transactions on Intelligent Transportation Systems, 1-14. https://doi.org/10.1109/tits.2024.3364356

• Journal Article Type: Article
• Acceptance Date: Feb 5, 2024
• Online Publication Date: Feb 23, 2024
• Publication Date: Feb 23, 2024
• Deposit Date: Apr 8, 2024
• Publicly Available Date: Apr 10, 2024
• Journal: IEEE Transactions on Intelligent Transportation Systems
• Print ISSN: 1524-9050
• Electronic ISSN: 1558-0016
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Pages: 1-14
• DOI: https://doi.org/10.1109/tits.2024.3364356
• Keywords: Computer Science Applications; Mechanical Engineering; Automotive Engineering
• Public URL: https://durham-repository.worktribe.com/output/2379781