Human-In-the-loop Formation Control for Manned-Unmanned Aerial Swarms Subject to Full-State Constraints

This paper addresses the formation control problem of manned-unmanned aerial swarms in three-dimensional space by proposing an adaptive backstepping control method based on cluster space. Initially, a transformation relationship between the single-vehicle vector and the cluster space vector is established using cluster space techniques. Additionally, a human-in-the-loop cooperative controller is designed to generate the control commands for the individual unmanned aerial vehicle (UAV). Subsequently, separate velocity and attitude controllers for the UAV are developed, and the full-state constraint issue for the individual UAV is resolved by combining a tan-type Lyapunov function with a performance function. Finally, the stability of the proposed cluster space and individual UAV controllers is theoretically validated, and the effectiveness of the proposed algorithm is confirmed through numerical simulations.