Finite-time tracking control of tanker/UAV formation with hose connection based on constraint space

Finite-time tracking control of tanker/UAV formation with hose connection based on constraint space | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Finite-time tracking control of tanker/UAV formation with hose connection based on constraint space Bo Liu, Zhongjie Meng, Shaoyi Li, Binbin Yan This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4410227/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 09 Jan, 2025 Read the published version in Nonlinear Dynamics → Version 1 posted 10 You are reading this latest preprint version Abstract This paper investigates the problem of finite-time tracking control for refueling formations under hose connection constraints subsequent to the docking of a receiving unmanned aerial vehicle (UAV) and a tanker in autonomous aerial refueling missions. The inclusion of hose connections not only imposes constraints to prevent disconnection but also introduces disturbances to the UAV. Initially, a model for the tension constraints at the hose-UAV connection point is first introduced, transforming complex hose constraints into relative state constraints between the UAV and the tanker. Meanwhile, a modified barrier function that incorporates the UAV's state and formation tracking errors is designed to deal with the decomposed hose constraints. Furthermore, an extended state observer is deployed to estimate external complex disturbances. Subsequently, leveraging dynamic surface control techniques, a finite-time control scheme is proposed to meet the dual requirements of preventing hose disconnection and achieving rapid convergence in the refueling formation. Compared to traditional hose constraint solutions, this scheme enhances the safety of refueling formation systems. Both theoretical proofs and simulation results substantiate the efficacy of the proposed control scheme. UAV Autonomous aerial refueling Formation tracking control Refueling formation system with hose constraints Finite time control Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 09 Jan, 2025 Read the published version in Nonlinear Dynamics → Version 1 posted Editorial decision: Revision requested 19 Sep, 2024 Reviews received at journal 29 Aug, 2024 Reviewers agreed at journal 16 Aug, 2024 Reviewers agreed at journal 14 Aug, 2024 Reviewers agreed at journal 30 May, 2024 Reviewers agreed at journal 28 May, 2024 Reviewers invited by journal 27 May, 2024 Editor assigned by journal 17 May, 2024 Submission checks completed at journal 16 May, 2024 First submitted to journal 12 May, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4410227","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":304183222,"identity":"47a30b42-2c52-4d7f-bc16-57d660207789","order_by":0,"name":"Bo Liu","email":"","orcid":"","institution":"Northwestern Polytechnical University","correspondingAuthor":false,"prefix":"","firstName":"Bo","middleName":"","lastName":"Liu","suffix":""},{"id":304183223,"identity":"ed7111aa-24b6-49b2-925a-1b3b98647237","order_by":1,"name":"Zhongjie Meng","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABBElEQVRIiWNgGAWjYLACxgYQebCB4QNUQIJoLYwzSNTCwMDMQ4wW3fbewy9/7rDJk3c83PjYdsfhPIMDzAdv8zDY5eHSYnbmXJqF5Jm0YsMDB5uNc88cLjY4wJZszcOQXIxTy40cMwPDtsOJGxsOtknntt1O3HCAx0yah+FAYgMuLfffmBkkQrS0/7YEa+H/hl/LDR7jBweBWuYzHGxjZoTYwoZfy5kcM8bGtrTEDQwHmyV72/4XSx5mM7acY5CMW8vxM8Yff7bZJM6fcfzhh59taXl8x5sf3nhTYYdTCxCwgWPB4MYBMC+BgRnMxa0eCJjByUS+vwGqZRSMglEwCkYBGgAAODVlWl/u+zUAAAAASUVORK5CYII=","orcid":"","institution":"Northwestern Polytechnical University","correspondingAuthor":true,"prefix":"","firstName":"Zhongjie","middleName":"","lastName":"Meng","suffix":""},{"id":304183224,"identity":"b1aa8c38-fd7c-4170-a5ba-3a59f5401802","order_by":2,"name":"Shaoyi Li","email":"","orcid":"","institution":"Northwestern Polytechnical University","correspondingAuthor":false,"prefix":"","firstName":"Shaoyi","middleName":"","lastName":"Li","suffix":""},{"id":304183225,"identity":"64762be2-adde-4302-b075-102a4882463d","order_by":3,"name":"Binbin Yan","email":"","orcid":"","institution":"Northwestern Polytechnical University","correspondingAuthor":false,"prefix":"","firstName":"Binbin","middleName":"","lastName":"Yan","suffix":""}],"badges":[],"createdAt":"2024-05-13 02:26:36","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4410227/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4410227/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s11071-024-10852-z","type":"published","date":"2025-01-09T15:57:44+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":73693970,"identity":"12090805-de64-40ec-b503-e4333586ef76","added_by":"auto","created_at":"2025-01-13 16:10:07","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1530521,"visible":true,"origin":"","legend":"","description":"","filename":"manuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4410227/v1_covered_e7e6f715-502d-4861-b2cd-f0dec397b2aa.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Finite-time tracking control of tanker/UAV formation with hose connection based on constraint space","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"nonlinear-dynamics","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"nody","sideBox":"Learn more about [Nonlinear Dynamics](https://www.springer.com/journal/11071)","snPcode":"11071","submissionUrl":"https://submission.nature.com/new-submission/11071/3","title":"Nonlinear Dynamics","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"UAV , Autonomous aerial refueling , Formation tracking control , Refueling formation system with hose constraints , Finite time control","lastPublishedDoi":"10.21203/rs.3.rs-4410227/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4410227/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This paper investigates the problem of finite-time tracking control for refueling formations under hose connection constraints subsequent to the docking of a receiving unmanned aerial vehicle (UAV) and a tanker in autonomous aerial refueling missions. The inclusion of hose connections not only imposes constraints to prevent disconnection but also introduces disturbances to the UAV. Initially, a model for the tension constraints at the hose-UAV connection point is first introduced, transforming complex hose constraints into relative state constraints between the UAV and the tanker. Meanwhile, a modified barrier function that incorporates the UAV's state and formation tracking errors is designed to deal with the decomposed hose constraints. Furthermore, an extended state observer is deployed to estimate external complex disturbances. Subsequently, leveraging dynamic surface control techniques, a finite-time control scheme is proposed to meet the dual requirements of preventing hose disconnection and achieving rapid convergence in the refueling formation. Compared to traditional hose constraint solutions, this scheme enhances the safety of refueling formation systems. Both theoretical proofs and simulation results substantiate the efficacy of the proposed control scheme. 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