DISTRIBUTED THREE-DIMENSIONAL FORMATION CONTAINMENT CONTROL OF MULTIPLE UNMANNED AERIAL VEHICLE SYSTEMS

被引：59

作者：

Han, Tao ^{[1
]}

Chi, Ming ^{[1
]}

Guan, Zhi-Hong ^{[1
]}

Hu, Bin ^{[1
]}

Xiao, Jiang-Wen ^{[1
]}

Huang, Yuehua ^{[2
]}

机构：

[1] Huazhong Univ Sci & Technol, Coll Automat, Wuhan 430074, Peoples R China

[2] China Three Gorges Univ, Hubei Prov Collaborat Innovat Ctr New Energy Micr, Yichang 443002, Peoples R China

来源：

ASIAN JOURNAL OF CONTROL | 2017年 / 19卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Containment control; formation control; UAV system; switching topology; 2ND-ORDER MULTIAGENT SYSTEMS; CONSENSUS; ALGORITHMS; SEEKING; DESIGN;

D O I：

10.1002/asjc.1445

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper concentrates the distributed formation containment problems for multiple unmanned aerial vehicle (UAV) systems under both fixed directed and switching directed topologies. The objective is to introduce the formation control into the containment control research, where master UAVs should exchange information with each other to achieve and maintain a desired formation. Then, two different control protocols are proposed for the master UAVs and slave UAVs, respectively. Utilizing the algebraic graph theory and stability theory, some sufficient conditions are derived to guarantee the master UAVs complete a prespecified formation, while the states of the slave UAVs converge to a convex hull formed by those of the master UAVs. Finally, some numerical simulations are provided to verify the effectiveness of the theoretical results.

引用

页码：1103 / 1113

页数：11

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