Formation-containment control for unmanned aerial vehicle swarm system

被引：0
|
作者：
Yu, Bocheng [1 ]
Dong, Xiwang [1 ]
Shi, Zongying [1 ]
Zhong, Yisheng [2 ]
机构：
[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
[2] Tsinghua Univ, TNList, Dept Automat, Beijing 100084, Peoples R China
来源：
2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年
关键词：
Formation-containment control; unmanned aerial vehicle; swarm system; MULTIAGENT SYSTEMS; SUFFICIENT CONDITIONS; CONSENSUS ANALYSIS; TRACKING CONTROL; LEADER; SYNCHRONIZATION; ALGORITHMS; STABILITY; DESIGN;
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：
Formation-containment control problems for unmanned aerial vehicle (UAV) swarm systems with directed interaction topologies are addressed. UAVs in the swarm system are classified into leaders and followers, where leaders and followers are designed to achieve time-varying formation and containment respectively. Based on state transformation and state space decomposition, formation-containment problems of UAV swarm systems are converted into the asymptotic stability problems. Sufficient conditions for UAV swarm systems to achieve formation-containment are proposed, where the formation for leaders can be time-varying. Theoretical results are demonstrated by outdoor formation-containment experiments with five quadrotors.
引用
收藏
页码：1517 / 1523
页数：7
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