Decentralized Formation Control For Multiple UAVs Based On Leader-Following Consensus With Time-Varying Delays

被引：0
|
作者：
Ding, Yan [1 ]
Wei, Chen [1 ]
Bao, Shuyu [1 ]
机构：
[1] Beihang Univ, Natl Key Lab Sci & Technol Holist Control, Beijing 100191, Peoples R China
来源：
2013 CHINESE AUTOMATION CONGRESS (CAC) | 2013年
关键词：
UAV; Formation; Leader-following consensus; Decentralized; LMI; AVERAGE CONSENSUS; AGENTS; COORDINATION; NETWORKS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Combined with the decentralized method, a leader-following consensus protocol is studied with time-varying communication and self delays for multi-UAV formation control systems. By using Lyapunov and the linear matrix inequality methods, it can be proven that all the nodes can track the reference values asymptotically and the maximal allowable upper bounds of delays can be obtained. At last, simulation results of four UAVs formation are given to demonstrate the effectiveness and application value of the proposed method.
引用
收藏
页码：426 / 431
页数：6
相关论文
共 50 条
  • [1] Discrete-time AUV formation control with leader-following consensus under time-varying delays
    Li, Juan
    Tian, Zhenyang
    Zhang, Honghan
    OCEAN ENGINEERING, 2023, 286
  • [2] Leader-following consensus problem with a varying-velocity leader and time-varying delays
    Peng, Ke
    Yang, Yupu
    PHYSICA A-STATISTICAL MECHANICS AND ITS APPLICATIONS, 2009, 388 (2-3) : 193 - 208
  • [3] Leader-following consensus of second-order agents with multiple time-varying delays
    Zhu, Wei
    Cheng, Daizhan
    AUTOMATICA, 2010, 46 (12) : 1994 - 1999
  • [4] Leader-Following Consensus in Networks of Agents with Nonuniform Time-Varying Delays
    Tang, Zhao-Jun
    Huang, Ting-Zhu
    Hu, Jiang-Ping
    Shao, Jin-Liang
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2012, 2012
  • [5] Leader-Following Consensus of Multiagent Systems with Time-Varying Delays via Impulsive Control
    Ye, Zhiyong
    Chen, Yungen
    Zhang, Hua
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2014, 2014
  • [6] Formation Control of Leader-Following Multi-UUVs With Uncertain Factors and Time-Varying Delays
    Yan, Zheping
    Pan, Xiaoli
    Yang, Zewen
    Yue, Lidong
    IEEE ACCESS, 2019, 7 : 118792 - 118805
  • [7] Leader-following coordination of multiple UUVs formation under two independent topologies and time-varying delays
    Zhe-ping Yan
    Yi-bo Liu
    Chang-bin Yu
    Jia-jia Zhou
    Journal of Central South University, 2017, 24 : 382 - 393
  • [8] Leader-following coordination of multiple UUVs formation under two independent topologies and time-varying delays
    Yan Zhe-ping
    Liu Yi-bo
    Yu Chang-bin
    Zhou Jia-jia
    JOURNAL OF CENTRAL SOUTH UNIVERSITY, 2017, 24 (02) : 382 - 393
  • [9] Leader-following coordination of multiple UUVs formation under two independent topologies and time-varying delays
    严浙平
    刘一博
    于长斌
    周佳加
    Journal of Central South University, 2017, (02) : 382 - 393
  • [10] Leader-following Consensus Control for Markov an Switching Multi-agent Systems with Interval Time-varying Delays
    Park, M. J.
    Kwon, O. M.
    Park, Ju H.
    Lee, S. M.
    Cha, E. J.
    Lee, Tae H.
    2013 9TH ASIAN CONTROL CONFERENCE (ASCC), 2013,
12345