Predefined-time formation control for QUAV under input saturation

Mengcheng Wang; Shu Zhang; Dengxiu Yu; Mengcheng Wang; Shu Zhang; Dengxiu Yu

doi:10.3934/mmc.2026012

Mathematical Modelling and Control

2026, Volume 6, Issue 2: 151-162. doi: 10.3934/mmc.2026012

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Research article

Predefined-time formation control for QUAV under input saturation

1.
Sanya Oceanographic Institution, Ocean University of China, Sanya, Hainan 572000, China; wangmengcheng@mail.nwpu.edu.cn
2.
Information Science and Engineering, Ocean University of China, Qingdao, Shandong 266100, China
3.
School of Artificial Intelligence, OPtics and ElectroNics (iOPEN), Northwestern Polytechnical University, Xian, Shanxi 710072, China

Received: 17 December 2024 Revised: 05 March 2025 Accepted: 22 March 2025 Published: 28 May 2026

This paper investigates the predefined-time formation control of quadrotor unmanned aerial vehicles (QUAVs) under input saturation constraints. To mitigate the effects of input saturation, an auxiliary system is meticulously designed. In contrast to other studies which merely attain the asymptotic stability of the auxiliary signals, the auxiliary system proposed ensures the predefined-time stability, thus contributing the stability of entire system. Subsequently, based on the predefined-time stability criterion, a distributed formation controller is developed, thus guaranteeing the predefined-time stability and robustness of formation under input saturation. Finally, simulations validate the effectiveness of the proposed method.
- QUAV formation,
- predefined-time control,
- input saturation,
- auxiliary system
Citation: Mengcheng Wang, Shu Zhang, Dengxiu Yu. Predefined-time formation control for QUAV under input saturation[J]. Mathematical Modelling and Control, 2026, 6(2): 151-162. doi: 10.3934/mmc.2026012

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Abstract

This paper investigates the predefined-time formation control of quadrotor unmanned aerial vehicles (QUAVs) under input saturation constraints. To mitigate the effects of input saturation, an auxiliary system is meticulously designed. In contrast to other studies which merely attain the asymptotic stability of the auxiliary signals, the auxiliary system proposed ensures the predefined-time stability, thus contributing the stability of entire system. Subsequently, based on the predefined-time stability criterion, a distributed formation controller is developed, thus guaranteeing the predefined-time stability and robustness of formation under input saturation. Finally, simulations validate the effectiveness of the proposed method.

References

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