The region coveragecontrol problem of multiple stratospheric airships system is firstly addressed in this *** it,we propose a two-layer control framework with the artificial potential field(APF)-based region coverage...
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The region coveragecontrol problem of multiple stratospheric airships system is firstly addressed in this *** it,we propose a two-layer control framework with the artificial potential field(APF)-based region coveragecontrol law and the adaptive tracking control *** APF-based region coveragecontrol law ensures the coverage task is achieved until every single stratospheric airship ends up performing station keeping where near the respective global minimum point,in which an innovative solution to the local minimum problem is put *** adaptive tracking control law is designed to realize motion control using tracking the desired velocity and angular velocity given by coveragecontrol law,with the consideration of several practical control problems as unknown individual differences and external *** save resources,the combined self-/event-triggered mechanism designed therein significantly reduces the times of state information transmission and control law *** effectiveness of the proposed control framework is verified through simulations.
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