This paper addresses the fixed-time leader-follower consensus problem for high-order integrator multiagent systems subject to matched external disturbances. A new cascade control structure, based on a distributed observer, is developed achieve tracking control. simulation example included show efficacy and performance of proposed structure with respect different initial conditions.

This paper addresses the fixed-time leader-follower consensus problem for second-order multiagent systems without velocity measurement. A new continuous distributed observer-based protocol is developed to achieve in a bounded finite time fully independent of initial condition. rigorous stability proof by output feedback control presented based on bi-limit homogeneity and Lyapunov technique. Finally, efficiency proposed methodology illustrated numerical simulation.

The attitude control of quadrotor unmanned aerial vehicle (UAV) is investigated. aim this paper to develop a continuous multivariable law, which drives the tracking errors UAV zero in finite time. First, super-twisting-like algorithm (STLA) proposed for arbitrary order integrator systems subject matched disturbances. A discontinuous integral term incorporated law compensate rigorous proof time stability close-loop system derived by utilizing Lyapunov method and homogeneous technique. Then,...

As one of the tiniest flying objects, unmanned aerial vehicles (UAVs) are often expanded as "swarm" to execute missions. In this article, we investigate multiquadcopter and target pursuit-evasion game in obstacles environment. For high-quality simulation urban environment, propose scenario (PES) framework create environment with a physics engine, which enables quadcopter agents take actions interact On basis, construct multiagent coronal bidirectionally coordinated prediction network (CBC-TP...

The real-time reentry trajectory and attitude coordination control for a reusable launch vehicle (RLV) is very important challenging problem. There are many aspects that make the research appealing, such as being able to autonomously replan new onboard when landing site changed. In order achieve goal, an integrated guidance architecture proposed in this paper. First, offline designed based on adaptive Gauss pseudospectral method. Then, obtained used initial value guess optimization. As...

The finite-time tracking control for reusable launch vehicle with unmatched disturbance is investigated. An adaptive-multivariable-disturbance-compensation scheme proposed to provide the estimation external disturbances where bounds of perturbations are not known. Based on estimation, a continuous multivariable homogeneity second order sliding mode controller designed ensure that attitude achieved in finite time. A proof convergence closed-loop system under integrated and observer derived...

The finite-time attitude control of quadrotor unmanned aerial vehicles (UAVs) subject to external disturbances with unknown bound is investigated in this paper. First, an adaptive multivariable stabilizing algorithm for second-order systems developed based on the improved supertwisting and equivalent algorithms. Furthermore, stability conditions are derived via Lyapunov technique. remarkable feature eliminate overestimation gains without loss sliding motion. Then, proposed applied UAVs solve...

This article presents a distributed consensus observer for multiagent systems with high-order integrator dynamics to estimate the leader state. Stability analysis is carefully studied explore convergence properties under undirected and directed communication, respectively. Using Lyapunov functions, fixed-time (resp. finite-time) stability guaranteed directed) interaction topology. Finally, simulation results are presented demonstrate theoretical findings.

The leader–follower fixed-time consensus of high-order multi-agent systems with external disturbances is investigated in this paper. A novel sliding manifold designed to ensure that the tracking errors converge zero a during motion. Then, distributed control law based on Lyapunov technique drive system states finite-time independent initial conditions. Finally, efficiency proposed method illustrated by numerical simulations.

This article addresses the robust fixed-time stabilization control problem for generic linear systems with both matched and mismatched disturbances. A new observer-based technique is proposed to solve this problem, provided that system matrix pair <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$(A,B)$ </tex-math></inline-formula> controllable. The ultimate boundedness of closed-loop in presence...

Summary A continuous multivariable output feedback control scheme is developed for trajectory tracking and attitude stabilization of quadrotor helicopters. The whole closed‐loop system composed by position loop loop. homogeneous technique used to design finite‐time stabilizing controller observer in each virtual introduced ensure that the real smooth enough such it can be tracked stability guaranteed through homogeneity Lyapunov analysis. Finally, efficiency proposed algorithm illustrated...

An event-triggered attitude control algorithm is developed for quadrotor unmanned aerial vehicles (UAVs) subject to external disturbances. In this article, first an supertwisting stabilizing strategy a class of second-order nonlinear systems proposed. Then, Lyapunov-based stability analysis provided the closed-loop system, and Zeno-free execution triggering sequence guaranteed via rigorous analysis. Furthermore, proposed applied on UAVs reduce computing cost without degrading performance...

This paper investigates the problem of attitude tracking control for reusable launch vehicles (RLVs) with aeroservoelastic characteristic and disturbances in reentry phase. An model RLV is first established, where synthetic are considered as well. Then a novel disturbance observer combined fuzzy logic system constructed by using both approximation error observation to provide estimation. The (FDO) can be employed scheme counteract perturbations guarantee estimation errors converging small...

Due to the characteristics of small size and low cost unmanned aerial vehicles (UAVs), Multi-UAV confrontation will play an important role in future wars. The game air combat environment is investigated this paper. To truly deduce scene, a physics engine established based on Confrontation Scenario (MCS) framework, enabling real-time interaction between agent while making learned strategies more realistic. form effective strategy, Graph Attention Multi-agent Soft Actor Critic Reinforcement...

Summary The control effectors of reusable launch vehicle (RLV) can produce significant perturbations and faults in reentry phase. Such a challenge imposes tight requirements to enhance the robustness autopilot. Focusing on this problem, novel finite‐time fault‐tolerant strategy is proposed for RLV paper. key design an adaptive‐gain multivariable disturbance observer (FDO) estimate synthetical perturbation with unknown bounds, which composed model uncertainty, external disturbance, actuator...

In this article, active vibration suppression and attitude control for flexible spacecraft under model uncertainty external disturbance are investigated. First, an adaptive observer (ADO) (FVO) proposed to estimate the lumped vibration. It is shown that ADO nonoverestimated first derivative upper bound of unknown. Then, based on observers, a novel controller designed suppress realize control. The remarkable feature algorithm suppressed tracking guaranteed simultaneously without intelligent...

With development of LiDAR technology, solid-state LiDARs receive a lot attention for their high reliability, low cost and light weight. However, compared with traditional rotating LiDARs, these pose new challenges on simultaneous localization mapping (SLAM) due to small field view (FoV) in horizontal direction irregular scanning pattern, which arises the issue degeneracy indoor environments. To this end, we propose an accurate, robust real-time LiDAR-inertial SLAM method LiDARs. Firstly,...