| Citation: | ZHANG Y，YU H，YANG X X，et al. Adaptive group formation tracking-containment control for UAV swarm[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（1）：97-109 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0264
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To address the group formation tracking-containment control problem of unmanned aerial vehicles (UAV) swarm, a hierarchical cooperative control architecture including group cooperation and tracking-containment is established. In order to highlight the top-level planning ability of swarm system, a group cooperative control strategy based on formation parameter group is proposed, which overcomes the defect that the existing multi formation control methods are difficult to realize formation transformation. On the basis of considering the communication coupling between groups, an adaptive group formation tracking-containment control law is designed to overcome the dependence of the control input on the eigenvalues of the Laplacian matrix, and the feasibility constraint of the expected formation is given. The saturation constraint is introduced into the control input, and the necessary and sufficient conditions for the stability of the system under the input saturation constraint are further derived to avoid the large-scale maneuver of the swarm. The results show that the proposed strategy can realize the group formation tracking-containment control of UAV swarm.
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