Abstract:

To handle stationary formation control of unmanned aerial vehicles （UAVs） within a finite time under bearing constraints， a method for stationary finite-time formation control of UAVs based on bearing information was proposed. Relying solely on relative bearing information， this method aims to ensure that UAVs achieve the target formation within the predefined finite time. Compared to existing control methods， the proposed strategy introduced a time-varying scaling gain mechanism that allows users to customize convergence time and ensures the continuity of control input derivatives. This study also presented sufficient conditions for ensuring near-global convergence and preventing collisions between UAVs. By incorporating a leader-follower control structure， the method achieved global convergence and employed a gradient descent approach to ensure the UAVs complete the formation task within a finite time. To validate the effectiveness of the control method， simulation experiments were conducted on Simulink and Gazebo platforms. The results demonstrate the effectiveness of the strategy.

Key words: unmanned aerial vehicle（UAV） formation, finite-time convergence, relative bearing, collision avoidance, Gazebo

摘要：

针对无人机在方向约束条件下的有限时间定点编队控制问题，提出了一种基于方向信息的无人机有限时间定点编队控制方法。该方法仅依赖于相对方向信息，旨在确保无人机在预定的有限时间内实现目标编队。相较于现有控制方法，提出的策略引入了随时间变化的缩放增益机制，允许用户自定义收敛时间，并确保控制输入导数的连续性。研究还给出了确保几乎全局收敛性和避免无人机碰撞的充分条件。通过引入领航者-跟随者控制结构，该方法能够实现全局收敛，并设计了梯度下降方法以确保无人机在有限时间内完成编队任务。最后，为验证控制方法的有效性，在Simulink和Gazebo平台上进行了仿真实验，实验结果证明了策略的有效性。

关键词: 无人机编队, 有限时间收敛, 相对方向, 碰撞避免, Gazebo