Predefined-Time Null-Space Behavioral Control for Multi-UAVs Rigid Formation Control

This paper proposes a predefined-time null-space behavioral control algorithm based on a time-base generator (PTNSBC-TBG) for multi-quadrotor unmanned aerial vehicle (UAV) systems, enabling rigid formation control with collision and obstacle avoidance within a predefined time. First, the UAV kinematic model is incorporated into the task design of null-space behavioral control (NSBC) to ensure that task instructions adhere strictly to the UAV’s motion constraints, overcoming the limitations of the classical NSBC method, which relies on a single integrator model. Second, a predefined-time null-space behavioral control algorithm is designed to drive UAVs to form a rigid formation within a specified time in advance. The issue of excessive initial control input is addressed by utilizing a time-base generator (TBG). Additionally, a nonlinear adaptive sliding mode control law based on the TBG is designed to ensure the predefined-time convergence of the UAVs’ velocity command tracking error. Finally Numerical simulations and experiment indicate that the proposed PTNSBC-TBG can form a rigid formation within a predefined time. Compared to the algorithm without TBG, the initial control input is significantly reduced, by at least [Formula: see text].