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<p>This paper presents adaptive formation-tracking control strategies for a heterogeneous multi-robot system composed of unmanned aerial and ground vehicles (UAVs and UGVs), which is relevant for surveillance, transportation, and search and rescue. A non-singular adaptive controller is developed for the UGV kinematics, and its stability is proven using the Lyapunov theory. For the quadrotor, a novel barrier adaptive sliding mode controller is proposed for the inner and outer loops. Therefore, based on the Lyapunov theorem, the sliding surfaces and gain estimation errors converge to zero in a finite time, despite external disturbances with low energy consumption. Notably, the gain-decreasing phase of the controller mitigates the chattering effect and significantly reduces control energy compared to conventional and standard adaptive sliding mode controllers. The simulation results confirm the ability of this heterogeneous system to cooperate on real-world problems such as collision-free path tracking while maintaining time-varying formation for maximum area coverage with low control effort.</p>

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Adaptive Formation Tracking Control for Heterogeneous Unmanned Air/Ground Vehicles: A Barrier Function Approach for Minimizing Energy Consumption

  • 期刊论文

  • 发表日期：

    2025年7月23日

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  • Mohammadjavad Golchin,
  • Farhad Bayat,
  • Saleh Mobayen,
  • Afef Fekih

摘要

This paper presents adaptive formation-tracking control strategies for a heterogeneous multi-robot system composed of unmanned aerial and ground vehicles (UAVs and UGVs), which is relevant for surveillance, transportation, and search and rescue. A non-singular adaptive controller is developed for the UGV kinematics, and its stability is proven using the Lyapunov theory. For the quadrotor, a novel barrier adaptive sliding mode controller is proposed for the inner and outer loops. Therefore, based on the Lyapunov theorem, the sliding surfaces and gain estimation errors converge to zero in a finite time, despite external disturbances with low energy consumption. Notably, the gain-decreasing phase of the controller mitigates the chattering effect and significantly reduces control energy compared to conventional and standard adaptive sliding mode controllers. The simulation results confirm the ability of this heterogeneous system to cooperate on real-world problems such as collision-free path tracking while maintaining time-varying formation for maximum area coverage with low control effort.