Time-varying Formation Control for Second-order Nonlinear Multi-UAV System

被引：0

作者：

Li, Zhenyan ^{[1
,2
]}

Yang, Chunxi ^{[1
,2
]}

Zhang, Xiufeng ^{[1
,2
]}

Li, Yiming ^{[1
,2
]}

Yang, Jianquan ^{[1
,2
]}

机构：

[1] Kunming Univ Sci & Technol, Fac Mech & Elect Engn, Kunming 650093, Peoples R China

[2] Yunnan Int Joint Lab Intelligent Control & Applic, Kunming 650093, Peoples R China

来源：

2023 IEEE 12TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE, DDCLS | 2023年

关键词：

Time-varying Formation; Non-linear System; Unmanned Aerial Vehicle(UAV); UNMANNED AERIAL VEHICLES; CONSENSUS; STRATEGIES;

D O I：

10.1109/DDCLS58216.2023.10167146

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of time-varying formation analysis and control protocol design for a multi-UAV system with a nonlinear term is considered. Firstly, a formation control protocol for multi-UAV system is proposed for a predefined time-varying formation. Then, the multi-UAV formation problem is transformed into a consensus problem through the formation reference function. The condition for the multi-UAV system to reach time-varying formation is proposed. And the reference function expression is given. Moreover, the stability of the system is proved by the partial stability method. In addition, the design process of time-varying formation control protocol for multi-UAV system with nonlinear term is given. Finally, a multi-UAV system composed of five UAVs is utilized to verify the feasibility of the method by simulink. Simulation results show that the proposed time-varying formation control method is effective.

引用

页码：1901 / 1906

页数：6

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