Formation reconfiguration control of quadrotor UAVs based on adaptive communication topology

被引：0
|
作者：
Ma S. [1 ]
Dong C. [1 ]
Ma M. [1 ]
Wang Q. [2 ]
机构：
[1] School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing
[2] School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing
来源：
Dong, Chaoyang (dongchaoyang@buaa.edu.cn) | 2018年 / Beijing University of Aeronautics and Astronautics (BUAA)卷 / 44期
基金：
中国国家自然科学基金;
关键词：
Adaptive; Directed topology; Flight formation control; Integral sliding mode; Quadrotor UAV; Switching system;
D O I：
10.13700/j.bh.1001-5965.2017.0281
中图分类号：
学科分类号：
摘要：
This paper focuses on the cooperative control problem in formation reconfiguration of multiple flight vehicles, and the method of integral sliding mode control (ISMC) based on switching communication topology is investigated. The multiple flight vehicle system is modeled involving the connecting of communication topology and the character of formation reconfiguration of quadrotor UAV. The switching condition of the communication topology is raised considering the possible communication reliability problem in the process of formation reconfiguration. The cooperative controller is designed by ISMC method under the condition of switching topology communication, and its stability is proved adopting switching system theory. The simulation results show that the stability of UAV formation system can be ensured with ISMC method and switching communication topology in the process of formation reconfiguration, and illustrate the effectiveness of the proposed method. © 2018, Editorial Board of JBUAA. All right reserved.
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收藏
页码：841 / 850
页数：9
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