user

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
  • [41] Robust Trajectory Tracking Control for a Quadrotor Unmanned Aerial Vehicle Using Disturbance Observer
    Yang, Yi
    Wu, Qingxian
    Chen, Mou
    [J]. PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2016, : 697 - 702
  • [42] Quaternion-based nonlinear trajectory tracking control of a quadrotor unmanned aerial vehicle
    Zha Changliu
    Ding Xilun
    Yu Yushu
    Wang Xueqiang
    [J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2017, 30 (01) : 77 - 92
  • [43] Fault-Tolerant Time-Varying Formation Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies
    Zhen, Ran
    Jin, Yating
    Wu, Xiaojing
    Wu, Xueli
    Lv, Xuan
    [J]. MATHEMATICAL PROBLEMS IN ENGINEERING, 2021, 2021
  • [44] Autonomous control system for the quadrotor unmanned aerial vehicle
    Wei, Xiaojuan
    [J]. 2016 13TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2016, : 796 - 799
  • [45] Event-triggered obstacle avoidance tracking control of quadrotor unmanned aerial vehicle
    Wang, Xia
    Wu, Peng
    Tang, Yujun
    Fu, Lei
    Meng, Aiwen
    [J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2024, : 3518 - 3538
  • [46] Robust Tracking Control of a Quadrotor Unmanned Aerial Vehicle-Suspended Payload System
    Xian, Bin
    Yang, Sen
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2021, 26 (05) : 2653 - 2663
  • [47] Tracking-Oriented Formation Control for Unmanned Aerial Vehicle Swarm Through Output Feedback Under Jointly-Connected Topologies
    Xin, Bin
    Kang, Yuhang
    Liu, Wei
    [J]. IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2024, 73 (01) : 438 - 449
  • [48] Formation control of unmanned aerial vehicle swarms: A comprehensive review
    Ouyang, Quan
    Wu, Zhaoxiang
    Cong, Yuhua
    Wang, Zhisheng
    [J]. ASIAN JOURNAL OF CONTROL, 2023, 25 (01) : 570 - 593
  • [49] Nonlinear control for reconfiguration of unmanned-aerial-vehicle formation
    Dogan, A
    Venkataramanan, S
    [J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2005, 28 (04) : 667 - 678
  • [50] Flatness-based Target Tracking for a Quadrotor Unmanned Aerial Vehicle
    Li, Tianya
    Xia, Yuanqing
    Ma, Dailiang
    [J]. IFAC PAPERSONLINE, 2015, 48 (28): : 874 - 879
12345