Formation Tracking Control of Quadrotor Unmanned Aerial Vehicle Swarm with Double Formation Structure

被引：0
|
作者：
Zhang, Qingchuan [1 ]
Xi, Jianxiang [1 ]
Wang, Le [1 ]
Wang, Chen [1 ]
机构：
[1] Rocket Force Univ Engn, Xian 710025, Peoples R China
来源：
2022 41ST CHINESE CONTROL CONFERENCE (CCC) | 2022年
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Double formation structure; Formation tracking control; Time-varying formation; Quadrotor UAV; FORMATION-CONTAINMENT TRACKING; 2ND-ORDER MULTIAGENT SYSTEMS; VARYING FORMATION TRACKING;
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：
In this paper, a time-varying formation tracking control method of quadrotor unmanned aerial vehicle (UAV) swarm with multiple leaders is proposed to realize the double formation structure. First, time-varying formation tracking protocols are constructed based on the neighboring information of UAVs. Then, sufficient conditions of time-varying formation tracking with the double formation structure are proposed. It is shown that both followers and leaders can form desired formations, and followers track to a formation center determined by all the leaders. Besides, an explicit presentation of the formation center function is given. Finally, a numerical simulation is presented to verify the effectiveness of the theoretical results.
引用
收藏
页码：4962 / 4967
页数：6
相关论文
共 50 条
  • [1] Tracking Control Design for Quadrotor Unmanned Aerial Vehicle
    Nadda, Sudhir
    Swarup, A.
    [J]. DEFENCE SCIENCE JOURNAL, 2017, 67 (03) : 245 - 253
  • [2] Tracking control of unmanned aerial vehicle swarms with leader-following double formation
    Zhang, Qingchuan
    Wang, Le
    Xi, Jianxiang
    Wang, Cheng
    [J]. Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2024, 50 (07): : 2331 - 2342
  • [3] Formation Tracking of Unmanned Aerial Vehicle Swarm Systems with Predefined Formation Reference and Switching Topologies
    Yan, Rui
    Zhou, Yan
    Shi, Zongying
    Yisheng
    Zhong
    [J]. 2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV), 2016,
  • [4] Formation Stabilization Algorithm for Swarm Tracking in Unmanned Aerial Vehicle (UAV) Quadrotors
    Bandala, Argel A.
    Vicerra, Ryan Rhay P.
    Dadios, Elmer P.
    [J]. TENCON 2014 - 2014 IEEE REGION 10 CONFERENCE, 2014,
  • [5] Formation-containment control for unmanned aerial vehicle swarm system
    Yu, Bocheng
    Dong, Xiwang
    Shi, Zongying
    Zhong, Yisheng
    [J]. 2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 1517 - 1523
  • [6] Fixed-time heterogeneous formation control of unmanned boats and quadrotor unmanned aerial vehicle
    Bai, Jiaqi
    Wang, Yankai
    Xing, Hao
    [J]. Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2023, 45 (04): : 1152 - 1163
  • [7] Flocking control for quadrotor unmanned aerial vehicle swarm with dynamic topology
    Yin, Yaxuan
    Zhang, An
    Bi, Wenhao
    Yang, Pan
    Huang, Zhanjun
    [J]. Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2024, 46 (10): : 3473 - 3483
  • [8] Dynamics Modeling and Trajectory Tracking Control of a Quadrotor Unmanned Aerial Vehicle
    Ding, Xilun
    Wang, Xueqiang
    Yu, Yushu
    Zha, Changliu
    [J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2017, 139 (02):
  • [9] Robust Control for Attitude Tracking Problem for a Quadrotor Unmanned Aerial Vehicle
    Mokhtari, M. Rida
    Cherki, Brahim
    [J]. 2013 3D INTERNATIONAL CONFERENCE ON SYSTEMS AND CONTROL (ICSC), 2013,
  • [10] Simple Controller for Trajectory Tracking Control of Quadrotor Unmanned Aerial Vehicle
    Mutoh, Yasuhiko
    Awatsu, Lisa
    [J]. 2016 11TH FRANCE-JAPAN & 9TH EUROPE-ASIA CONGRESS ON MECHATRONICS (MECATRONICS) / 17TH INTERNATIONAL CONFERENCE ON RESEARCH AND EDUCATION IN MECHATRONICS (REM), 2016, : 213 - 218
12345