Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications

被引：755

作者：

Dong, Xiwang ^{[1
]}

Yu, Bocheng ^{[1
]}

Shi, Zongying ^{[1
]}

Zhong, Yisheng ^{[1
]}

机构：

[1] Tsinghua Univ, Dept Automat, Tsinghua Natl Lab Informat Sci & Technol, Beijing 100084, Peoples R China

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2015年 / 23卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Formation control; swarm system; time-varying formation; unmanned aerial vehicle (UAV); COORDINATION ARCHITECTURE; COOPERATIVE CONTROL; MULTIAGENT SYSTEMS; CONSENSUS PROBLEMS; MOBILE ROBOTS; SWARM SYSTEMS; DESIGN; AGENTS; UAVS;

D O I：

10.1109/TCST.2014.2314460

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Formation control analysis and design problems for unmanned aerial vehicle (UAV) swarm systems to achieve time-varying formations are investigated. To achieve predefined timevarying formations, formation protocols are presented for UAV swarm systems first, where the velocities of UAVs can be different when achieving formations. Then, consensus-based approaches are applied to deal with the time-varying formation control problems for UAV swarm systems. Necessary and sufficient conditions for UAV swarm systems to achieve time-varying formations are proposed. An explicit expression of the timevarying formation center function is derived. In addition, a procedure to design the protocol for UAV swarm systems to achieve time-varying formations is given. Finally, a quadrotor formation platform, which consists of five quadrotors is introduced. Theoretical results obtained in this brief are validated on the quardrotor formation platform, and outdoor experimental results are presented.

引用

页码：340 / 348

页数：9

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