Control of multiple quadrotors for rendezvous problem: algorithm and flight test results

被引：0
|
作者：
Zhang, Qingjie [1 ]
Zhong, Yisheng [2 ]
Guo, Haifeng [1 ]
Xu, Wei [3 ]
Xu, Liang [1 ]
Zhao, Dandan [1 ]
机构：
[1] Aviat Univ Air Force, Dept Aircraft Control, Changchun 130022, Peoples R China
[2] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
[3] PLA, Troops 95377, Beijing, Peoples R China
来源：
2017 CHINESE AUTOMATION CONGRESS (CAC) | 2017年
关键词：
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：
The distributed solving algorithms and experiments of the rendezvous problem for multiple quadrotors system are discussed in this paper. Firstly, the mathematical model of rendezvous problem is established and the distributed solution strategy based on coordinate variable is given. Secondly, the optimal control protocol based on consensus algorithm is derived. The cost function is defined, and the optimal control protocol is obtained by dynamic programming method. The algorithm process is given. Lastly, the flight experiments of three quadrotors are illustrated to verify the effectiveness of the proposed algorithm.
引用
收藏
页码：2317 / 2321
页数：5
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