Time-varying formation control for unmanned aerial vehicles with switching interaction topologies

被引：273
|
作者：
Dong, Xiwang [1 ]
Zhou, Yan [2 ]
Ren, Zhang [1 ]
Zhong, Yisheng [2 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
[2] Tsinghua Univ, TNlist, Dept Automat, Beijing 100084, Peoples R China
来源：
CONTROL ENGINEERING PRACTICE | 2016年 / 46卷
基金：
中国国家自然科学基金;
关键词：
Time-varying formation; Cooperative control; Unmanned aerial vehicle; Swarm system; Multi-agent system; Switching interaction topology; MULTIAGENT SYSTEMS; CONSENSUS PROBLEMS; DESIGN; ALGORITHM; SEEKING; AGENTS;
D O I：
10.1016/j.conengprac.2015.10.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Time-varying formation control problems for unmanned aerial vehicle (UAV) swarm systems with switching interaction topologies are studied. Necessary and sufficient conditions for UAV swarm systems with switching interaction topologies to achieve predefined time-varying formations are proposed. Based on the common Lyapunov functional approach and algebraic Riccati equation technique, an approach to design the formation protocol is presented. An explicit expression of the formation reference function is derived to describe the macroscopic movement of the whole UAV formation. A quadrotor formation platform consisting of four quadrotors is introduced. Outdoor experiments are performed to demonstrate the effectiveness of the theoretical results. (C) 2015 Elsevier Ltd. All rights reserved.
引用
收藏
页码：26 / 36
页数：11
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