Three-dimensional multiple unmanned aerial vehicles formation control strategy based on second-order consensus

被引:7
|
作者
Zhu, Xu [1 ]
Zhang, Xun-Xun [1 ]
Yan, Mao-De [1 ]
Qu, Yao-Hong [2 ]
Lin, Hai [1 ]
机构
[1] Changan Univ, Sch Elect & Control Engn, Mail Box 370,Sect Nan Erhuan Rd, Xian 710064, Shaanxi, Peoples R China
[2] Northwestern Polytech Univ, Sch Automat, Xian, Shaanxi, Peoples R China
基金
中国国家自然科学基金;
关键词
Multiple unmanned aerial vehicles; consensus; guidance and control; stability; synchronization technology; COOPERATIVE-CONTROL; FORMATION FLIGHT; UAVS; DESIGN;
D O I
10.1177/0954410016680644
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
Considering three-dimensional formation control for multiple unmanned aerial vehicles, this paper proposes a second-order consensus strategy by utilizing the position and velocity coordinate variables. To maintain the specified geometric configuration, a cooperative guidance algorithm and a cooperative control algorithm are proposed together to manage the position and attitude, respectively. The cooperative guidance law, which is designed as a second-order consensus algorithm, provides the desired pitch rate, heading rate and acceleration. In addition, a synchronization technology is put forward to reduce the influence of the measurement errors for the cooperative guidance law. The cooperative control law, regarding the output of the cooperative guidance law as its input, is designed by deducing the state-space expression of both the longitudinal and lateral motions. The formation stability is analyzed to give a sufficient and necessary condition. Finally, the simulations for the three-dimensional formation control demonstrate the feasibility and effectiveness of the second-order consensus strategy.
引用
收藏
页码:481 / 491
页数:11
相关论文
共 50 条
  • [1] Three-dimensional containment control for multiple unmanned aerial vehicles
    Han, Tao
    Guan, Zhi-Hong
    Wu, Yonghong
    Zheng, Ding-Fu
    Zhang, Xian-He
    Xiao, Jiang-Wen
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2016, 353 (13): : 2929 - 2942
  • [2] Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles
    Bennet, Derek J.
    McInnes, C. R.
    Suzuki, M.
    Uchiyama, K.
    [J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2011, 34 (06) : 1899 - 1908
  • [3] DISTRIBUTED THREE-DIMENSIONAL FORMATION CONTAINMENT CONTROL OF MULTIPLE UNMANNED AERIAL VEHICLE SYSTEMS
    Han, Tao
    Chi, Ming
    Guan, Zhi-Hong
    Hu, Bin
    Xiao, Jiang-Wen
    Huang, Yuehua
    [J]. ASIAN JOURNAL OF CONTROL, 2017, 19 (03) : 1103 - 1113
  • [4] Consensus algorithm for formation technology of multiple unmanned aerial vehicles
    Deng, Yansong
    Qin, Kaiyu
    Xie, Guangming
    Huang, Qinzhen
    [J]. International Review on Computers and Software, 2012, 7 (07) : 3764 - 3769
  • [5] EVENT-TRIGGERING IN THREE-DIMENSIONAL LEADER-FOLLOWER FORMATION CONTROL FOR UNMANNED AERIAL VEHICLES
    Sun, Liang
    Hu, Bin
    [J]. PROCEEDINGS OF THE ASME 9TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2016, VOL 2, 2017,
  • [6] Elementary Clothoid-Based Three-Dimensional Curve for Unmanned Aerial Vehicles
    Armesto, Leopoldo
    Vanegas, Gloria
    Girbes-Juan, Vicent
    [J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2022, 45 (12) : 2421 - 2431
  • [7] Three-dimensional Path Planning for Unmanned Aerial Vehicles Based on Fluid Flow
    Liang, Xiao
    Wang, Honglun
    Li, Dawei
    Liu, Chang
    [J]. 2014 IEEE AEROSPACE CONFERENCE, 2014,
  • [8] Formation Control with Feedback Nash Strategy for Multiple Unmanned Aerial Vehicles in Unknown Environments
    Xue, Wenyan
    Huang, Jie
    Li, Zeyi
    Xin, Bin
    [J]. UNMANNED SYSTEMS, 2024,
  • [9] Reconfiguration Control with Collision Avoidance Framework for Unmanned Aerial Vehicles in Three-Dimensional Space
    Lie, Fidelis Adhika Pradipta
    Go, Tiauw Hiong
    [J]. JOURNAL OF AEROSPACE ENGINEERING, 2013, 26 (03) : 637 - 645
  • [10] Integrated Optimal Formation Control of Multiple Unmanned Aerial Vehicles
    Wang, Jianan
    Xin, Ming
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2013, 21 (05) : 1731 - 1744