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Entropy
Volume 27
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10.3390/e27050538
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Fixed-Time Cooperative Formation Control of Heterogeneous Systems Under Multiple Constraints

by
Yandong Li
1,2,
Wei Zhao
1,2,*,
Ling Zhu
3,
Zehua Zhang
1,2 and
Yuan Guo
4
1
college of Computer and Control Engineering, Qiqihar University, Qiqihar 161000, China
2
Heilongjiang Key Laboratory of Big Data Network Security Detection and Analysis, Qiqihar University, Qiqihar 161000, China
3
School of Mechanical and Electrical Engineering, Qiqihar University, Qiqihar 161000, China
4
School of Computer and Big Data, Heilongjiang University, Harbin 150080, China
*
Author to whom correspondence should be addressed.
Entropy 2025, 27(5), 538; https://doi.org/10.3390/e27050538 (registering DOI)
Submission received: 1 April 2025 / Revised: 12 May 2025 / Accepted: 15 May 2025 / Published: 17 May 2025
(This article belongs to the Section Complexity)
Versions Notes

Abstract

This paper proposes a fixed-time formation-tracking control problem for a heterogeneous multi-agent system (MAS) consisting of six unmanned aerial vehicles (UAVs) and three unmanned ground vehicles (UGVs) under actuator attacks, external disturbances, and input saturation. First, a distributed sliding mode estimator and controller tailored for UAV-UGV heterogeneous systems are proposed based on sliding mode techniques. Second, by integrating repulsive potential functions with sliding manifolds, a distributed fixed-time adaptive sliding mode control protocol was designed. This protocol ensures collision avoidance while enabling the MASs to track desired trajectories and achieve a predefined formation configuration within a fixed time. The fixed-time stability of the closed-loop system was rigorously proven via Lyapunov theory.
Keywords: UAV-UGV cooperative formation; fixed time; trajectory tracking; multiple constraints UAV-UGV cooperative formation; fixed time; trajectory tracking; multiple constraints

Share and Cite

MDPI and ACS Style

Li, Y.; Zhao, W.; Zhu, L.; Zhang, Z.; Guo, Y. Fixed-Time Cooperative Formation Control of Heterogeneous Systems Under Multiple Constraints. Entropy 2025, 27, 538. https://doi.org/10.3390/e27050538

AMA Style

Li Y, Zhao W, Zhu L, Zhang Z, Guo Y. Fixed-Time Cooperative Formation Control of Heterogeneous Systems Under Multiple Constraints. Entropy. 2025; 27(5):538. https://doi.org/10.3390/e27050538

Chicago/Turabian Style

Li, Yandong, Wei Zhao, Ling Zhu, Zehua Zhang, and Yuan Guo. 2025. "Fixed-Time Cooperative Formation Control of Heterogeneous Systems Under Multiple Constraints" Entropy 27, no. 5: 538. https://doi.org/10.3390/e27050538

APA Style

Li, Y., Zhao, W., Zhu, L., Zhang, Z., & Guo, Y. (2025). Fixed-Time Cooperative Formation Control of Heterogeneous Systems Under Multiple Constraints. Entropy, 27(5), 538. https://doi.org/10.3390/e27050538

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