Cooperative Control of UAV Formation Based on Distributed Consensus

被引：0
|
作者：
Zhang, Jiandong [1 ]
Wang, Wanyang [1 ]
Zhang, Zhen [2 ]
Luo, Kehou [3 ]
Liu, Jieling [4 ]
机构：
[1] Northwestern Polytech Univ, Xian 710072, Peoples R China
[2] Kong Jun Zhuang Bei Bu Ke Yan Ding Huo Bu, Beijing 100843, Peoples R China
[3] China Elect Technol Grp Corp, Res Inst 28, Nanjing 210007, Peoples R China
[4] Xian North Electroopt Sci & Technol Def Co Ltd, Xian 710043, Peoples R China
来源：
2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA) | 2019年
关键词：
Cluster collaboration; Consensus control; Distributed control; Formation maintenance; Formation transformation; DESIGN;
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：
Aiming at the main problems of assembly, formation maintenance and formation transformation in UAV cluster formation control, the distributed consistency method is used to design and simulate the control algorithm. Firstly, under the determined communication topology, the assembly control, formation route and speed tracking control of UAV formation based on distributed consensus control algorithm are implemented. Then the convergence conditions of distributed consensus control algorithm under the condition of communication topology transformation is analyzed, and a cluster formation transformation based on consensus control algorithm is designed and implemented. The simulation results show that the distributed consensus-based control algorithm can complete the operation of the UAV cluster formation, maintenance, and formation transformation.
引用
收藏
页码：788 / 793
页数：6
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