Fixed‐time disturbance observer based distributed cooperative containment control with fixed‐time anti‐saturation compensator for multi‐unmanned aerial vehicles
Lei Cui, Qi Zhou, Di Huang
Abstract
Abstract This article proposes a fixed‐time backstepping distributed cooperative containment control scheme for multiple unmanned aerial vehicles (UAVs). A fixed‐time compensator is designed for the fixed‐wing UAVs actuator saturation problem. Based on this, an improved fixed‐time disturbance observer is proposed for the problem of the excessive initial peak. The problem of “complexity explosion” is solved by the fixed‐time differential filter. For the distributed containment control of multiple UAVs, a cooperative control architecture based on a fixed‐time anti‐saturation compensation system is proposed. The proposed algorithm can be shown practicable by using Lyapunov stability theory and graph theory. Simulation results are given to demonstrate the effectiveness of the proposed control scheme.