Predefined-time distributed optimal formation control for constrained UAV-UGV systems.

Authors

Wei Yang, Jiapeng Liu, Yumei Ma, Hak-Keung Lam, Jinpeng Yu

Published in

ISA transactions. Jun 13, 2026. Epub Jun 13, 2026.

Abstract

This paper addresses the distributed predefined-time optimal adaptive formation control problem in heterogeneous systems consisting of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). To cope with asymmetric state constraints in the planar subsystem, a nonlinear mapping along with a relaxation function is employed to transform the constrained states into an equivalent unconstrained form. Then, the single critic structure is integrated into the command filtered backstepping design framework to derive the distributed predefined-time optimal formation controller, where the adaptive fuzzy approximation is utilized to approximate unknown nonlinearities and the auxiliary performance function. It is demonstrated that the formation errors converge within a predefined time, while the positions of vehicles remain within the prescribed constraints. Finally, simulation results are provided to validate the effectiveness of the proposed control scheme.

PMID:
42386485
Bibliographic data and abstract were imported from PubMed on 02 Jul 2026.

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