Time-varying formation control for unmanned aerial vehicles with external disturbances

被引：13
|
作者：
Liu, Yu'ang [1 ]
Wang, Qing [1 ]
Dong, Chaoyang [2 ]
Ran, Maopeng [3 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Beihang Univ, Sch Aeronaut Sci & Engn, Beijing 100191, Peoples R China
[3] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore, Singapore
来源：
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2019年 / 41卷 / 13期
基金：
中国国家自然科学基金;
关键词：
Formation control; disturbed formation; time-varying formation; active disturbance rejection control (ADRC); unmanned aerial vehicle (UAV); LEADER-FOLLOWER FORMATION; MULTIAGENT SYSTEMS; REJECTION; TRACKING; SEEKING;
D O I：
10.1177/0142331219836588
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Time-varying formation control for unmanned aerial vehicles (UAVs) swarm systems with external disturbances is investigated via active disturbance rejection control (ADRC). The external disturbances are estimated by a designed extended state observer (ESO). Then, a distributed formation control protocol is designed according to the output of ESO, under which the predefined time-varying formation can be achieved. The closed-loop system under the proposed control strategy is analyzed. In addition, the expression of formation center function of the disturbed formation control is also depicted. Finally, numerical instances are simulated in order to demonstrate the validity and superiority of the proposed control strategy.
引用
收藏
页码：3777 / 3786
页数：10
相关论文
共 50 条
  • [1] Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications
    Dong, Xiwang
    Yu, Bocheng
    Shi, Zongying
    Zhong, Yisheng
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2015, 23 (01) : 340 - 348
  • [2] Time-varying formation control for unmanned aerial vehicles with switching interaction topologies
    Zhou, Yan
    Dong, Xiwang
    Lu, Geng
    Zhong, Yisheng
    [J]. 2014 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), 2014, : 1203 - 1209
  • [3] Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles: Theories and Applications
    Li, Qing
    Hua, Yongzhao
    Dong, Xiwang
    Ren, Zhang
    [J]. IFAC PAPERSONLINE, 2022, 55 (03): : 49 - 54
  • [4] Time-varying formation control for unmanned aerial vehicles with switching interaction topologies
    Dong, Xiwang
    Zhou, Yan
    Ren, Zhang
    Zhong, Yisheng
    [J]. CONTROL ENGINEERING PRACTICE, 2016, 46 : 26 - 36
  • [5] Decentralized Linear Time-Varying Model Predictive Control of a Formation of Unmanned Aerial Vehicles
    Bemporad, Alberto
    Rocchi, Claudio
    [J]. 2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), 2011, : 7488 - 7493
  • [6] Adaptive time-varying formation tracking control of unmanned aerial vehicles with quantized input
    Wang, Yuan
    He, Lei
    Huang, Changqiang
    [J]. ISA TRANSACTIONS, 2019, 85 : 76 - 83
  • [7] Linear Time-Varying Tracking Control With Application to Unmanned Aerial Vehicles
    Thimmaraya, Ramesh
    Nataraj, C.
    Lee, Dongbin
    [J]. 2010 AMERICAN CONTROL CONFERENCE, 2010, : 806 - 811
  • [8] Time-Varying Formation Control and Collision Avoidance for Unmanned Aerial Vehicles Based on Position Estimation
    Feng, Yujie
    Wang, Qing
    Dong, Chaoyang
    [J]. INFORMATION TECHNOLOGY AND INTELLIGENT TRANSPORTATION SYSTEMS (ITITS 2017), 2017, 296 : 255 - 265
  • [9] Active Disturbance Rejection Time-Varying Formation Tracking for Unmanned Aerial Vehicles
    Ran, Maopeng
    Li, Juncheng
    Xie, Lihua
    [J]. 16TH IEEE INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2020), 2020, : 1298 - 1303
  • [10] Distributed Robust Time-varying Formation Control for Multiple Unmanned Aerial Vehicles Systems with Time-delay
    Li, Ping
    Qin, Kaiyu
    Pu, Hongping
    [J]. 2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2017, : 1539 - 1544
12345