Muslimov (EN)_7_(Properties_changed).pdf (8 MB)
Download file

Multi-UAV Cooperative Target Tracking via Consensus-based Guidance Vector Fields and Fuzzy MRAC

Download (8 MB)
posted on 2021-01-08, 20:06 authored by Tagir MuslimovTagir Muslimov, Rustem Munasypov

Link to peer-reviewed version:

This paper proposes a multi-agent approach to adaptive control of fixed-wing unmanned aerial vehicles (UAVs) tracking a moving ground target. The approach implies that the UAVs in a single group must maintain preset phase shift angles while rotating around the target so as to evaluate the target’s movement more ac-curately. Thus, the controls should ensure that: (1) the UAV swarm follows a moving circular path whose center is the target while also attaining and maintain-ing a circular formation of a specific geometric shape; (2) the formation control systems is capable of self-tuning since the UAV dynamics is uncertain. In con-trast to known studies, this one uses Lyapunov vector guidance fields that are di-rection- and magnitude-nonuniform. The overall cooperative controller structure is based on a decentralized and centralized consensus. This paper considers two interaction architectures: an open chain where each UAV only interacts with its neighbors; and cooperative leader, where the leading UAV is involved in attain-ing the formation. Using open chain decentralized architecture allows to have an unlimited number of aircraft in a group, which is in line with the swarm behavior concept. The cooperative controllers are self-tuned by fuzzy model reference adaptive control (MRAC). The approach was tested for efficiency and performance in various scenarios using complete nonlinear flying-wing UAV models equipped with configured standard autopilot models.


The reported study was funded by RFBR according to the research project № 18-08-01299


Email Address of Submitting Author

ORCID of Submitting Author


Submitting Author's Institution

Ufa State Aviation Technical University

Submitting Author's Country

  • Russian Federation