Complex network-based pinning control of drone swarm

被引：3
|
作者：
Zhou, Jinhao [1 ]
Liu, Kexin [1 ]
Lu, Yuezu [2 ,3 ]
Chen, Lei [2 ,3 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Beijing Inst Technol, Adv Res Inst Multidisciplinary Sci, Beijing 100081, Peoples R China
[3] Beijing Inst Technol, Yangtze Delta Reg Acad, Jiaxing 314000, Peoples R China
来源：
IFAC PAPERSONLINE | 2022年 / 55卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Pinning control; drone swarms; complex networks; Flocking; large-scale systems; COORDINATION;
D O I：
10.1016/j.ifacol.2022.05.036
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Controlling the bulk motion of a large-scale drone swarm is a challenging and critical issue in modern swarm robotic systems. We introduce a framework of pinning control based on the self-organized flocking model with a set of selected driver drones, in which different selection strategies for driver drones are considered from the network perspective. Results show that we can control the bulk motion of a drone swarm by only controlling a set of driver drones and, furthermore, a well-selected set of driver drones can accomplish the task with better efficiency and robustness. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/))
引用
收藏
页码：207 / 212
页数：6
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