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<p>This paper developed a constrained predefined-time anti-disturbance formation control (CPAFC) method to tackle formation tracking control problems of the multi-QUAV with mismatched disturbances, matched disturbances (including external disturbances, unknown nonlinear terms, and unmodeled dynamics), and actuator faults. Firstly, the double predefined-time nonlinear disturbance observers (PTNDOs) are constructed for the position and attitude subsystems of the multi-QUAV formation system (MQFS) to estimate multiple disturbances. Then, the improved appointed-time funnel boundary function (IAFBF) is devised to restrict the tracking errors of MQFS and regulate the transient performance, while decreasing the initial control input values to avert potential actuator saturation. Based on the PTNDOs’ estimated values and the IAFBF, the funnel conversion error variables and virtual inputs are constructed, and the predefined-time distributed position and attitude controllers are designed by the backstepping method, which guarantees precise formation tracking control under multiple disturbances within a user-set time. Finally, the effectiveness of the developed CPAFC method for multi-QUAV is demonstrated by numerical simulations.</p>

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Improved funnel-based predefined-time formation tracking and mismatched disturbance rejection control for multiple QUAVs

  • 期刊论文

  • 发表日期：

    2025年10月6日

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  • Shuai Zhang,
  • Meiling Tao

摘要

This paper developed a constrained predefined-time anti-disturbance formation control (CPAFC) method to tackle formation tracking control problems of the multi-QUAV with mismatched disturbances, matched disturbances (including external disturbances, unknown nonlinear terms, and unmodeled dynamics), and actuator faults. Firstly, the double predefined-time nonlinear disturbance observers (PTNDOs) are constructed for the position and attitude subsystems of the multi-QUAV formation system (MQFS) to estimate multiple disturbances. Then, the improved appointed-time funnel boundary function (IAFBF) is devised to restrict the tracking errors of MQFS and regulate the transient performance, while decreasing the initial control input values to avert potential actuator saturation. Based on the PTNDOs’ estimated values and the IAFBF, the funnel conversion error variables and virtual inputs are constructed, and the predefined-time distributed position and attitude controllers are designed by the backstepping method, which guarantees precise formation tracking control under multiple disturbances within a user-set time. Finally, the effectiveness of the developed CPAFC method for multi-QUAV is demonstrated by numerical simulations.