Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier Functions
This paper focuses on the safety-critical fixed-time formation control of quadrotor UAVs with disturbance and obstacle collision risk. The control scheme is organized in a distributed manner, with the leader’s position and velocity being estimated simultaneously by a fixed-time distributed observer....
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-10-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/8/11/618 |
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| author | Zilong Song Haocai Huang |
| author_facet | Zilong Song Haocai Huang |
| author_sort | Zilong Song |
| collection | DOAJ |
| description | This paper focuses on the safety-critical fixed-time formation control of quadrotor UAVs with disturbance and obstacle collision risk. The control scheme is organized in a distributed manner, with the leader’s position and velocity being estimated simultaneously by a fixed-time distributed observer. Meanwhile, a disturbance observer that combines fixed-time control theory and sliding mode control is designed to estimate the external disturbance. Based on these techniques, we design a nominal control law to drive UAVs to track the desired formation in a fixed time. Regarding obstacle avoidance, we first construct safety constraints using control barrier functions (CBFs). Then, obstacle avoidance can be achieved by solving an optimization problem with these safety constraints, thus minimally affecting tracking performance. The main contributions of this process are twofold. First, an exponential CBF is provided to deal with the UAV model with a high relative degree. Moreover, a robust exponential CBF is designed for UAVs with disturbance, which provides robust safety constraints to ensure obstacle avoidance despite disturbance. Finally, simulation results show the validity of the proposed method. |
| format | Article |
| id | doaj-art-6e686e8d69d4441bbb6e07a85a5a91ec |
| institution | Kabale University |
| issn | 2504-446X |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-6e686e8d69d4441bbb6e07a85a5a91ec2024-11-26T18:00:35ZengMDPI AGDrones2504-446X2024-10-0181161810.3390/drones8110618Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier FunctionsZilong Song0Haocai Huang1Ocean College, Zhejiang University, Hangzhou 310058, ChinaDonghai Laboratory, Zhoushan 316021, ChinaThis paper focuses on the safety-critical fixed-time formation control of quadrotor UAVs with disturbance and obstacle collision risk. The control scheme is organized in a distributed manner, with the leader’s position and velocity being estimated simultaneously by a fixed-time distributed observer. Meanwhile, a disturbance observer that combines fixed-time control theory and sliding mode control is designed to estimate the external disturbance. Based on these techniques, we design a nominal control law to drive UAVs to track the desired formation in a fixed time. Regarding obstacle avoidance, we first construct safety constraints using control barrier functions (CBFs). Then, obstacle avoidance can be achieved by solving an optimization problem with these safety constraints, thus minimally affecting tracking performance. The main contributions of this process are twofold. First, an exponential CBF is provided to deal with the UAV model with a high relative degree. Moreover, a robust exponential CBF is designed for UAVs with disturbance, which provides robust safety constraints to ensure obstacle avoidance despite disturbance. Finally, simulation results show the validity of the proposed method.https://www.mdpi.com/2504-446X/8/11/618formation controlfixed-time controlcontrol barrier functionssafety-critical controlobstacle avoidancequadrotor UAVs |
| spellingShingle | Zilong Song Haocai Huang Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier Functions Drones formation control fixed-time control control barrier functions safety-critical control obstacle avoidance quadrotor UAVs |
| title | Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier Functions |
| title_full | Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier Functions |
| title_fullStr | Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier Functions |
| title_full_unstemmed | Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier Functions |
| title_short | Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier Functions |
| title_sort | safety critical fixed time formation control of quadrotor uavs with disturbance based on robust control barrier functions |
| topic | formation control fixed-time control control barrier functions safety-critical control obstacle avoidance quadrotor UAVs |
| url | https://www.mdpi.com/2504-446X/8/11/618 |
| work_keys_str_mv | AT zilongsong safetycriticalfixedtimeformationcontrolofquadrotoruavswithdisturbancebasedonrobustcontrolbarrierfunctions AT haocaihuang safetycriticalfixedtimeformationcontrolofquadrotoruavswithdisturbancebasedonrobustcontrolbarrierfunctions |