Wenxue Zhang

Distributed Closed-Form Multi-UAV Formation Control with Event-Triggered Collision Avoidance and Virtual-Structure Navigation

This paper presents a distributed closed-form control strategy for multi-unmanned aerial vehicle (multi-UAV) formation flight in cluttered environments. We propose a virtual-centroid-based architecture that reduces leader dependency while maintaining precise geometric configuration. A virtual-centroid navigation strate...

Variable structure control with dual avoidance regions for collision-free trajectory tracking of articulated wheel loaders