Trajectories Planning and Tracking for Uncertain Mechanical Systems with Multi-UAV

This paper focuses on the trajectory planning and tracking control problems of multi-unmanned aerial vehicle (UAV) systems in complex environments. It combines the improved A* algorithm with the robust control method to achieve efficient trajectory planning and precise tracking control of multi-UAV systems. First, the improved A* algorithm is utilized to plan the trajectories of UAVs. Then, the trajectory expressions in analytical form are obtained through the UAV trajectory plotting algorithm. Next, a robust control method with uncertainties based on the Udwadia–Kalaba (UK) theory is proposed. Through the stability analysis of the Lyapunov function, the uniform boundedness and uniform ultimate boundedness of the system states are proven. Finally, simulation experiments on multi-UAV systems are carried out to verify the effectiveness of the proposed methods. The experimental results show that the trajectories planned based on the improved A* algorithm can achieve collision avoidance between UAVs. Meanwhile, the trajectory tracking error based on the proposed control method is superior to that of the traditional sliding mode control.