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
相关论文
共 50 条
  • [41] Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment
    Zhao, Ziqian
    Zhu, Ming
    Qin, Jiazheng
    [J]. AEROSPACE, 2023, 10 (08)
  • [42] Time-varying output formation control for linear multi-agent systems with switching topologies
    Dong, Xiwang
    Sun, Chao
    Hu, Guoqiang
    [J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2016, 26 (16) : 3558 - 3579
  • [43] Adaptive Control of Quadrotor Unmanned Aerial Vehicle With Time-Varying Uncertainties
    Imran, Imil Hamda
    Stolkin, Rustam
    Montazeri, Allahyar
    [J]. IEEE ACCESS, 2023, 11 : 19710 - 19724
  • [44] Adaptive Path Following for Unmanned Aerial Vehicles in Time-Varying Unknown Wind Environments
    Zhou, Bingyu
    Satyavada, Harish
    Baldi, Simone
    [J]. 2017 AMERICAN CONTROL CONFERENCE (ACC), 2017, : 1127 - 1132
  • [45] Two stage switching control for autonomous formation flight of unmanned aerial vehicles
    Ambroziak, Leszek
    Gosiewski, Zdzislaw
    [J]. AEROSPACE SCIENCE AND TECHNOLOGY, 2015, 46 : 221 - 226
  • [46] Application of Fuzzy Control Under Time-varying Universe in Unmanned Vehicles
    Yan, Kefu
    Mo, Hong
    [J]. PROCEEDINGS 2018 33RD YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2018, : 439 - 444
  • [47] Time-varying group formation-tracking control for general linear multi-agent systems with switching topologies and time-varying delays
    Zhou, Shiyu
    Dong, Xiwang
    Tan, Qingke
    Wang, Qing
    Ren, Zhang
    [J]. 2021 22ND IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2021, : 105 - 110
  • [48] Time-Varying Formation Tracking for UAV Swarm Systems With Switching Directed Topologies
    Dong, Xiwang
    Li, Yangfan
    Lu, Chuang
    Hu, Guoqiang
    Li, Qingdong
    Ren, Zhang
    [J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2019, 30 (12) : 3674 - 3685
  • [49] Time-varying formation control with smooth switching communication
    Zhang, YuFeng
    Feng, Zhe
    Jin, JunWei
    Gao, WenTao
    Xu, Hao
    Yu, DengXiu
    [J]. AIP ADVANCES, 2021, 11 (10)
  • [50] Time-varying formation tracking for UGV swarm systems with switching directed topologies
    Lu, Chuang
    Wang, Zhenmin
    Dong, Xiwang
    Li, Qingdong
    Ren, Zhang
    [J]. 2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 7049 - 7054
12345