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Abstract

This paper investigates the formation problem of unmanned aerial vehicles under spatiotemporal coupling constraints. Firstly, unlike existing stability theories based on predefined-time, this paper designs a predefined-time formation controller based on time-based generator and sliding mode control technology, which mitigates the initial input saturation issue. Secondly, a collision prediction mechanism is designed based on the artificial potential field method, which avoids unnecessary obstacle avoidance behavior when unmanned aerial vehicles detect non threatening obstacles and reduces redundant resource consumption. Finally, simulation results are presented to indicate that the proposed scheme enables the unmanned aerial vehicles to achieve formation and reconstruct the formation within the predefined-time after obstacle avoidance.