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In this article, we delve into the formation control issue for multi-UAV systems with the constraints of unknown-but-bounded (UBB) process and measurement noises. To be more specific, With the modeling of system model using uncertain variable, we propose an optimal set-membership filtering (SMFing) framework tailored for the discrete-time multi-UAV systems. Then, an ellipsoidal outer-bounding set-membership filter (EOB-SMF) algorithm is proposed for state estimation with low complexity. Based on this, an integrated design of consensus-based control law and EOB-SMF method is developed to achieve desired formation shape. The effectiveness of our theoretical analysis is validated by numerical simulations.

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Formation Control and Ellipsoidal Outer-Bounding Set-Membership Filtering of Multi-UAV Systems: An Integrated Design

  • 会议论文

  • 发表日期：

    2025年

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  • Yating Lai,
  • Yaru Chen,
  • Jianlin Chen,
  • Zhihong Liu,
  • Yu Ding,
  • Yute Xiao

摘要

In this article, we delve into the formation control issue for multi-UAV systems with the constraints of unknown-but-bounded (UBB) process and measurement noises. To be more specific, With the modeling of system model using uncertain variable, we propose an optimal set-membership filtering (SMFing) framework tailored for the discrete-time multi-UAV systems. Then, an ellipsoidal outer-bounding set-membership filter (EOB-SMF) algorithm is proposed for state estimation with low complexity. Based on this, an integrated design of consensus-based control law and EOB-SMF method is developed to achieve desired formation shape. The effectiveness of our theoretical analysis is validated by numerical simulations.