Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles: Theories and Applications

被引：4
|
作者：
Li, Qing [1 ]
Hua, Yongzhao [2 ]
Dong, Xiwang [2 ]
Ren, Zhang [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
[2] Beihang Univ, Inst Artificial Intelligence, Beijing 100191, Peoples R China
来源：
IFAC PAPERSONLINE | 2022年 / 55卷 / 03期
关键词：
Formation tracking control; swarm system; time-varying formation; unmanned aerial vehicle(UAV); MULTIAGENT SYSTEMS;
D O I：
10.1016/j.ifacol.2022.05.009
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 tracking (TVFT) problems for unmanned aerial vehicles (UAVs) swarm systems with the leader's unknown input are studied. The follower UAVs form an expected formation while tracking the leader UAV. According to the information of the neighboring UAVs, a TVFT control protocol is constructed. It's proved by Lyapunov stability theory that the error of each follower UAV converge to a specified boundary, which means that the swarm system of UAVs can realize the practical TVFT. A platform consisting of five Tello quadrotors and ultrawideband (UWB) positioning technology is given. The effectiveness of the TVFT control protocol is verified on numerical simulation and Tello-UWB experiment platform. Copyright (C) 2022 The Authors.
引用
收藏
页码：49 / 54
页数：6
相关论文
共 50 条
  • [1] Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications
    Dong, Xiwang
    Yu, Bocheng
    Shi, Zongying
    Zhong, Yisheng
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2015, 23 (01) : 340 - 348
  • [2] Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles with the Leader's Unknown Input and Obstacle Avoidance: Theories and Applications
    Li, Qing
    Hua, Yongzhao
    Dong, Xiwang
    Yu, Jianglong
    Ren, Zhang
    ELECTRONICS, 2022, 11 (15)
  • [3] Adaptive time-varying formation tracking control of unmanned aerial vehicles with quantized input
    Wang, Yuan
    He, Lei
    Huang, Changqiang
    ISA TRANSACTIONS, 2019, 85 : 76 - 83
  • [4] Linear Time-Varying Tracking Control With Application to Unmanned Aerial Vehicles
    Thimmaraya, Ramesh
    Nataraj, C.
    Lee, Dongbin
    2010 AMERICAN CONTROL CONFERENCE, 2010, : 806 - 811
  • [5] Time-varying formation control for unmanned aerial vehicles with external disturbances
    Liu, Yu'ang
    Wang, Qing
    Dong, Chaoyang
    Ran, Maopeng
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2019, 41 (13) : 3777 - 3786
  • [6] Active Disturbance Rejection Time-Varying Formation Tracking for Unmanned Aerial Vehicles
    Ran, Maopeng
    Li, Juncheng
    Xie, Lihua
    16TH IEEE INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2020), 2020, : 1298 - 1303
  • [7] Time-varying formation control for unmanned aerial vehicles with switching interaction topologies
    Zhou, Yan
    Dong, Xiwang
    Lu, Geng
    Zhong, Yisheng
    2014 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), 2014, : 1203 - 1209
  • [8] Time-varying formation control for unmanned aerial vehicles with switching interaction topologies
    Dong, Xiwang
    Zhou, Yan
    Ren, Zhang
    Zhong, Yisheng
    CONTROL ENGINEERING PRACTICE, 2016, 46 : 26 - 36
  • [9] Decentralized Linear Time-Varying Model Predictive Control of a Formation of Unmanned Aerial Vehicles
    Bemporad, Alberto
    Rocchi, Claudio
    2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), 2011, : 7488 - 7493
  • [10] Three Dimensional Trajectory Tracking for Unmanned Aerial Vehicles in Time-Varying Winds
    Zhang, Kun
    Gao, Xiaoguang
    Chen, Daqing
    2015 FIFTH INTERNATIONAL CONFERENCE ON INSTRUMENTATION AND MEASUREMENT, COMPUTER, COMMUNICATION AND CONTROL (IMCCC), 2015, : 734 - 738
12345