Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles

doi:10.16183/j.cnki.jsjtu.2024.205

Abstract

Abstract:

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.

Key words: formation control, coordinate transformation, distributed extended state observer (DESO), dynamic surface control

CLC Number:

TP273

WANG Xianzhi, LI Guofei, CHANG Ya’nan. Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles[J]. Journal of Shanghai Jiao Tong University, 2024, 58(11): 1798-1804.

Figures/Tables 8

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节点i	p_i(0)/m	V_i(0)/(m·s^-1)	θ_i(0)/rad	ψ_i(0)/rad
1	[70 140 75]^T	100	-0.1	-0.60
2	[75 160 -20]^T	110	0	-0.79
3	[-25 130 -35]^T	100	0.1	-0.90
4	[-25 150 75]^T	100	0	-0.79