Both safety and stability are primary performance criteria for multi-unmanned aerial vehicle(multi-UAV)systems in many coordination tasks.Existing approaches often consider safety and stability separately.It is necess...Both safety and stability are primary performance criteria for multi-unmanned aerial vehicle(multi-UAV)systems in many coordination tasks.Existing approaches often consider safety and stability separately.It is necessary and urgent to develop a safety-stability control strategy to merge these two performance criteria.In this paper,a unified approach is developed to consider safety and stability for multi-UAV formation control.The stability criterion is represented by a Lyapunov function and safety criterion is represented by a barrier function and then a relaxed converse control Lyapunov-barrier theorem is obtained.With the help of a relaxed converse control Lyapunov-barrier function(RCCLBF),a distributed safety-stability formation control strategy is proposed for the multi-UAV system.By transforming the solution of RCCLBF to a Lyapunovlike stabilization problem,we show that the proposed formation control strategy can drive the UAVs staying within a specified safe set.Simulation results are provided to validate the proposed safety-stability formation control strategy.展开更多
The largest divergence rate is a characterization of the stability behavior for dynamic systems, which has been proven to be equal to the least possible common matrix set measure （extreme measure） of switched linear...The largest divergence rate is a characterization of the stability behavior for dynamic systems, which has been proven to be equal to the least possible common matrix set measure （extreme measure） of switched linear systems. To determine the largest divergence rate is an interesting and open problem. In this paper, an algorithm is introduced to estimate the largest divergence rate for a class of the 3rd-order switched linear systems, by which any desired accurate estimation could be derived. It explores a way to determine the largest divergence rate for the 3rd-order switched linear systems. Furthermore, the accurate estimation provides a qualitative and quantitative analysis for guaranteed stability of switched linear systems.展开更多
基金supported in part by the National Key Research and Development Program of China(No.2022YFE0133100)in part by the National Natural Science Foundation of China(No.62203089)in part by the Sichuan Science and Technology Program(Nos.24NSFSC1362,2020YFSY0012).
文摘Both safety and stability are primary performance criteria for multi-unmanned aerial vehicle(multi-UAV)systems in many coordination tasks.Existing approaches often consider safety and stability separately.It is necessary and urgent to develop a safety-stability control strategy to merge these two performance criteria.In this paper,a unified approach is developed to consider safety and stability for multi-UAV formation control.The stability criterion is represented by a Lyapunov function and safety criterion is represented by a barrier function and then a relaxed converse control Lyapunov-barrier theorem is obtained.With the help of a relaxed converse control Lyapunov-barrier function(RCCLBF),a distributed safety-stability formation control strategy is proposed for the multi-UAV system.By transforming the solution of RCCLBF to a Lyapunovlike stabilization problem,we show that the proposed formation control strategy can drive the UAVs staying within a specified safe set.Simulation results are provided to validate the proposed safety-stability formation control strategy.
基金supported by the National Natural Science Foundation of China (Nos. 60925013, 61273121)
文摘The largest divergence rate is a characterization of the stability behavior for dynamic systems, which has been proven to be equal to the least possible common matrix set measure （extreme measure） of switched linear systems. To determine the largest divergence rate is an interesting and open problem. In this paper, an algorithm is introduced to estimate the largest divergence rate for a class of the 3rd-order switched linear systems, by which any desired accurate estimation could be derived. It explores a way to determine the largest divergence rate for the 3rd-order switched linear systems. Furthermore, the accurate estimation provides a qualitative and quantitative analysis for guaranteed stability of switched linear systems.
