文献类型：期刊文献

英文题名：Adaptive Practical Predefined-Time Formation Tracking for Multiple Quadrotors With Time-Varying Parameters

作者：Yang, Xiaowu Long, Fei Zeng, Cheng

通信作者：Yang, XW[1];Yang, XW[2]

机构：[1]Guizhou Inst Technol, Coll Artificial Intelligence & Elect Engn, Guiyang 550005, Peoples R China;[2]Guizhou Inst Technol, Key Lab New Power Syst Operat Control Guizhou Prov, Guiyang 550025, Guizhou, Peoples R China;[3]Guizhou Inst Technol, Sci Coll, Guiyang 550025, Guizhou, Peoples R China

第一机构：贵州理工学院

通信机构：corresponding author), Guizhou Inst Technol, Coll Artificial Intelligence & Elect Engn, Guiyang 550005, Peoples R China;corresponding author), Guizhou Inst Technol, Key Lab New Power Syst Operat Control Guizhou Prov, Guiyang 550025, Guizhou, Peoples R China.|贵州理工学院;

年份：2026

卷号：14

起止页码：11847-11865

外文期刊名：IEEE ACCESS

收录：;EI(收录号：20260419963883);Scopus(收录号：2-s2.0-105028183358);WOS:【SCI-EXPANDED(收录号:WOS:001673759200038)】；

基金：This work was supported in part by Guizhou University of Technology High Level Talent Research Launch Fund underProject 2023GCCZK, in part by the National Natural Science Foundation of China under Grant 62163008, and in partby Guizhou Provincial Basic Research Program (Natural Science) under Grant [2020]1Z054.

语种：英文

外文关键词：Convergence; Quadrotors; Autonomous aerial vehicles; Upper bound; Uncertainty; Aerodynamics; Time-varying systems; Rotors; Robustness; Formation control; Autonomous aerial vehicles (AAVs); formation control; predefined-time tracking; robust adaptive control

摘要：This paper proposes a distributed leaderless adaptive predefined-time formation control scheme for multiple quadrotor AAV systems subject to time-varying aerodynamic uncertainties and external disturbances. The control framework addresses both attitude stabilization and position tracking in a unified manner. The main contributions are fourfold: firstly, a novel adaptive mechanism is developed to handle parametric uncertainties arising from time-varying air drag coefficients and aerodynamic parameters. Secondly, a continuous high-frequency learning-based robust controller is designed to compensate for external disturbances while eliminating chattering phenomena inherent in conventional sliding mode approaches. Thirdly, a distributed predefined-time control protocol is constructed to achieve leaderless formation tracking without requiring global state information. Fourthly, rigorous theoretical analysis guarantees that both attitude and position tracking errors converge to a designer-specified residual set within a predefined time, whose upper bound is explicitly determined a priori independently of initial conditions. Finally, simulation results are provided to verify the theoretical results and demonstrate superior performance compared with existing methods.