Multi-UAV stereoscopic inclusion control based on dynamic scale observer

To address the problem that individual unmanned aerial vehicle (UAV) in under-actuated multi-UAV inclusion control cannot obtain global information and is subject to unknown external perturbations, making it difficult to converge quickly, this paper proposed a distributed fixed-time control strategy for under-actuated UAVs based on a dynamic scale observer. Firstly, a distributed fixed-time observer was designed to enable each UAV to quickly estimate the space state required to complete the contained mission when most UAVs fail to obtain the target state. Secondly, a finite-time dynamic scale observer based on immersion and invariance theory was proposed to quickly and accurately estimate the external perturbations to each UAV. Finally, a non-singular distributed fixed-time controller was designed to achieve the fast stereoscopic inclusion control of an under-actuated multi-UAV system by using local information. With the proposed control strategy, the upper bound on the convergence time of the system was independent of the initial state and depended only on the eigenvalues of the information transfer array and the controller parameters. The superiority of the designed controller was verified by theoretical demonstration and simulation experiments.