Spherical Formation Tracking Control of Non-Holonomic UAVs with State Constraints and Time Delays

This paper addresses a novel spherical formation tracking control problem of multiple UAVs with time-varying delays in the directed communication network, where dynamics each UAV is non-holonomic and presence spatiotemporal flowfields. The state constraints (that is, position velocity constraints) are derived from our previous differential geometry method F–S formulas. time network bring many difficulties to controller design. To this end, virtual-structure-like design given achieve delayed information by using Lyapunov–Krasovskii functionals, then proposing barrier Lyapunov function for satisfaction algorithm. general assumption rate change delays, certain initial adjustment range given. Simulation results show feasibility effectiveness proposed