HIGHLIGHTS
SUMMARY
| 1 Vol.:(0123456789) a virtual leader with time-varying output is introduced so that the trajectory of the whole system can be manipulated in real time. The distributed finite-time protocols are utilized to ensure that the multi-UAV system realize the expected formation-containment tracking in finite time. From Figs 4, 5, 6, 7, 8 and 9, it can be clearly seen that the outer UAVs achieve the desired formation in a finite time, the inter UAVs enter the convex hull, and the task of formation-containment tracking is accomplished. With the time . . .
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