A distributed containment tracking control of the UAV formation with prescribed performance subject to collision avoidance

Summary In this paper, the issue of finite‐time containment tracking control under collision avoidance constraints for unmanned aerial vehicle (UAV) formation is investigated. To tackle the challenge of collision avoidance in the context of formation containment tracking, combined with a prescribed performance function, a distributed containment tracking control scheme is proposed. Firstly, a UAV formation containment control model from a top view perspective is established. Next, to solve the internal collision avoidance within the formation, a restricted movement region is constructed for each UAV using a distributed prescribed performance function, which guarantees that each UAV's trajectory is maintained within a predefined area. Furthermore, invoking with the finite‐time control theory for the formation, a distributed containment tracking control scheme is developed to complete finite‐time tracking of the formation. Finally, simulation results are carried out to demonstrate the efficacy of the proposed approach.