期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 26, 期 2, 页码 709-718出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2021.3055654
关键词
Unmanned aerial vehicles; Orbits; Space vehicles; Shape; Aerospace electronics; Task analysis; Vehicle dynamics; Affine transformations; cooperative circumnavigation (CCN); unmanned aerial vehicles (UAVs)
类别
资金
- Natural Science Foundation of Jiangsu Province [BK20200239]
This article investigates cooperative circumnavigation for groups of networked UAVs under a directed interaction topology, proposing a structured control design based on affine transformations. Leader UAVs can fully manipulate follower UAVs without the need for global information, achieving efficient spatial formation without the requirement of information exchange.
In this article, cooperative circumnavigation (CCN) is studied for groups of networked unmanned aerial vehicles (UAVs) under a directed interaction topology. The CCN drives UAVs to given planar ellipses with desired spatial formation. A first contribution is that based on affine transformations, CCN control design is structured, which can deploy UAVs on spatial orbits with different radii concerning a moving target in 3-D space. Second, no global information, such as the formation center, the desired radius, the angular velocity of circumnavigation, etc., is needed for any follower UAVs since they are completely maneuvered by the leader UAVs.
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