| Citation: | DING Chao, WEI Ruixuan, ZHOU Kaiet al. Distributed optimal rendezvous of multi-UAV systems in prescribed time based on time-domain mapping[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 315-322. doi: 10.13700/j.bh.1001-5965.2020.0215(in Chinese)
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To solve the prescribed-time optimal rendezvous problem for multi-UAV systems, a distributed optimization framework is established based on time-domain transformation technique. By introducing a specific time-domain transformation, the prescribed-time decision problem in original time-domain is transformed into an asymptotically stable problem in the infinite domain, which simplifies the analysis and design process. Then, we design a prescribed-time gradient descent algorithm whose convergence time is independent of the initial states as well as other parameters and therefore can be pre-specified. Besides, the application of time-varying gain removes the parameter selection process, which enables the proposed method in the context of a serious lack of global information. The simulation results show that this method is able to achieve the distributed optimal rendezvous for multiple UAVs in prescribed time, and the closed-loop system remains globally bounded in mission time.
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