Journal
CONTROL ENGINEERING PRACTICE
Volume 46, Issue -, Pages 26-36Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2015.10.001
Keywords
Time-varying formation; Cooperative control; Unmanned aerial vehicle; Swarm system; Multi-agent system; Switching interaction topology
Funding
- Fundamental Research Funds for Central Universities [61503009, 61374034, 61333011, 61174067, YWF-14-RSC-101]
- National Natural Science Foundation of China
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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.
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