Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles
In order that the flight vehicle group could form the expected formation, the “leader-follower” formation control law is investigated. First, the distributed extended state observer (DESO) is designed such that the followers could estimate the virtual leader’s position and velocity. Then, the expect...
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Editorial Office of Journal of Shanghai Jiao Tong University
2024-11-01
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| Series: | Shanghai Jiaotong Daxue xuebao |
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| Online Access: | https://xuebao.sjtu.edu.cn/article/2024/1006-2467/1006-2467-58-11-1798.shtml |
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| author | WANG Xianzhi, LI Guofei, CHANG Ya’nan |
| author_facet | WANG Xianzhi, LI Guofei, CHANG Ya’nan |
| author_sort | WANG Xianzhi, LI Guofei, CHANG Ya’nan |
| collection | DOAJ |
| description | In order that the flight vehicle group could form the expected formation, the “leader-follower” formation control law is investigated. First, the distributed extended state observer (DESO) is designed such that the followers could estimate the virtual leader’s position and velocity. Then, the expected positions of the followers are calculated based on the observer outputs and the nominal formation configuration. A dynamic surface control-based position tracking control law is designed for the followers to track the expected positions. Based on the Lyapunov theory, the stability of the proposed method is proved, while numerical simulations validate the effectiveness. The DESO could estimate both the virtual leader’s position and velocity via only the position observations. The method proposed guarantees that the orientation of the formation is consistent with the direction of the virtual leader’s velocity. |
| format | Article |
| id | doaj-art-71f1cd38a93940acb10fafe304697d08 |
| institution | Kabale University |
| issn | 1006-2467 |
| language | zho |
| publishDate | 2024-11-01 |
| publisher | Editorial Office of Journal of Shanghai Jiao Tong University |
| record_format | Article |
| series | Shanghai Jiaotong Daxue xuebao |
| spelling | doaj-art-71f1cd38a93940acb10fafe304697d082024-12-03T09:54:47ZzhoEditorial Office of Journal of Shanghai Jiao Tong UniversityShanghai Jiaotong Daxue xuebao1006-24672024-11-0158111798180410.16183/j.cnki.jsjtu.2024.205Distributed Extended State Observer-Based Formation Control of Multiple Flight VehiclesWANG Xianzhi, LI Guofei, CHANG Ya’nan0School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, ChinaIn order that the flight vehicle group could form the expected formation, the “leader-follower” formation control law is investigated. First, the distributed extended state observer (DESO) is designed such that the followers could estimate the virtual leader’s position and velocity. Then, the expected positions of the followers are calculated based on the observer outputs and the nominal formation configuration. A dynamic surface control-based position tracking control law is designed for the followers to track the expected positions. Based on the Lyapunov theory, the stability of the proposed method is proved, while numerical simulations validate the effectiveness. The DESO could estimate both the virtual leader’s position and velocity via only the position observations. The method proposed guarantees that the orientation of the formation is consistent with the direction of the virtual leader’s velocity.https://xuebao.sjtu.edu.cn/article/2024/1006-2467/1006-2467-58-11-1798.shtmlformation controlcoordinate transformationdistributed extended state observer (deso)dynamic surface control |
| spellingShingle | WANG Xianzhi, LI Guofei, CHANG Ya’nan Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles Shanghai Jiaotong Daxue xuebao formation control coordinate transformation distributed extended state observer (deso) dynamic surface control |
| title | Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles |
| title_full | Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles |
| title_fullStr | Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles |
| title_full_unstemmed | Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles |
| title_short | Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles |
| title_sort | distributed extended state observer based formation control of multiple flight vehicles |
| topic | formation control coordinate transformation distributed extended state observer (deso) dynamic surface control |
| url | https://xuebao.sjtu.edu.cn/article/2024/1006-2467/1006-2467-58-11-1798.shtml |
| work_keys_str_mv | AT wangxianzhiliguofeichangyanan distributedextendedstateobserverbasedformationcontrolofmultipleflightvehicles |