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Symmetry
Volume 17
Issue 6
10.3390/sym17060857
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Multiple UAV Cooperative Substation Inspection: A Robust Fixed-Time Group Formation Control Scheme

by
Lirong Xiao
1,*,
Zhongwei Xiao
1,
Zheng Fu
1,
Cheng Cheng
1,
Fan Li
2 and
Yang Yang
3
1
State Grid Jiangxi Electric Power Limited Liability Company Nanchang Power Supply Branch, Nanchang 330103, China
2
Jiangxi Electric Power Research Institute of State Grid, Nanchang 330096, China
3
School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China
*
Author to whom correspondence should be addressed.
Symmetry 2025, 17(6), 857; https://doi.org/10.3390/sym17060857
Submission received: 19 April 2025 / Revised: 23 May 2025 / Accepted: 26 May 2025 / Published: 31 May 2025
(This article belongs to the Topic Modeling, Stability, and Control of Dynamic Systems and Their Applications)
Versions Notes

Abstract

This study investigates the cooperative substation inspection problem for multi-unmanned aerial vehicle systems (MUAVs) subjected to uncertain disturbances. To enhance inspection reliability and efficiency, a novel distributed fixed-time group consensus control scheme is proposed. In this framework, radial basis function neural networks (RBF NNs) are employed to approximate both intrinsic nonlinear uncertainties and uncertain disturbances affecting UAV dynamics. Subsequently, a distributed fixed-time controller is developed via backstepping techniques, where fixed-time command filters are integrated to circumvent the complexity explosion inherent to conventional backstepping. Furthermore, an approximation error compensation system is established. It mitigates estimation inaccuracies arising from RBF NN approximations and command filtering processes. The mathematical analysis demonstrates that the proposed controller ensures the fixed-time convergence of group consensus errors into an adjustable residual set. Finally, numerical simulations and MUAV group formation simulations validate the robustness against aerodynamic uncertainties.
Keywords: multi-unmanned aerial vehicle systems; radial basis function neural network; fixed-time control; group formation; substation inspection multi-unmanned aerial vehicle systems; radial basis function neural network; fixed-time control; group formation; substation inspection

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MDPI and ACS Style

Xiao, L.; Xiao, Z.; Fu, Z.; Cheng, C.; Li, F.; Yang, Y. Multiple UAV Cooperative Substation Inspection: A Robust Fixed-Time Group Formation Control Scheme. Symmetry 2025, 17, 857. https://doi.org/10.3390/sym17060857

AMA Style

Xiao L, Xiao Z, Fu Z, Cheng C, Li F, Yang Y. Multiple UAV Cooperative Substation Inspection: A Robust Fixed-Time Group Formation Control Scheme. Symmetry. 2025; 17(6):857. https://doi.org/10.3390/sym17060857

Chicago/Turabian Style

Xiao, Lirong, Zhongwei Xiao, Zheng Fu, Cheng Cheng, Fan Li, and Yang Yang. 2025. "Multiple UAV Cooperative Substation Inspection: A Robust Fixed-Time Group Formation Control Scheme" Symmetry 17, no. 6: 857. https://doi.org/10.3390/sym17060857

APA Style

Xiao, L., Xiao, Z., Fu, Z., Cheng, C., Li, F., & Yang, Y. (2025). Multiple UAV Cooperative Substation Inspection: A Robust Fixed-Time Group Formation Control Scheme. Symmetry, 17(6), 857. https://doi.org/10.3390/sym17060857

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