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Focusing on cooperative path planning (CPP) and formation control for multiple UAVs, a Co-evolutionary Variation Particle Swarm Optimization (CVPSO) algorithm and a prescribed performance control (PPC) method is adopted. Firstly, a novel CVPSO approach is applied to deal with three dimensional path planning problem. Then, the nonlinear mathematical formation model and tracking error model with input saturation is given. In order to restrain following error inside a small realm, PPC algorithm is deduced by adopting the backstepping method. Finally, the mathematical simulations are exhibited to demonstrate the efficacy of introduced method.

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Cooperative Path Planning and Prescribed Performance Control with Input Saturation for UAV Formation

  • 会议论文

  • 发表日期：

    2025年

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  • Shichao Ma,
  • Wenqian Zhang,
  • Xianglun Zhang,
  • Qiang Tang,
  • Zhiyu Li,
  • Yukun Yang,
  • Hao Li,
  • Jiayun Wen

摘要

Focusing on cooperative path planning (CPP) and formation control for multiple UAVs, a Co-evolutionary Variation Particle Swarm Optimization (CVPSO) algorithm and a prescribed performance control (PPC) method is adopted. Firstly, a novel CVPSO approach is applied to deal with three dimensional path planning problem. Then, the nonlinear mathematical formation model and tracking error model with input saturation is given. In order to restrain following error inside a small realm, PPC algorithm is deduced by adopting the backstepping method. Finally, the mathematical simulations are exhibited to demonstrate the efficacy of introduced method.