期刊
IEEE TRANSACTIONS ON CYBERNETICS
卷 51, 期 12, 页码 6141-6153出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2020.2967844
关键词
Switches; Topology; Attitude control; Position measurement; Acceleration; Unmanned aerial vehicles; Cooperative control; flexible topologies; formation control; multirotors; physical constraints
类别
资金
- National Natural Science Foundation of China [61633007, U1911401, 61533007]
- U.S. National Science Foundation [EPCN-1903781]
- State Key Laboratory of Intelligent Control and Decision of Complex Systems at BIT
This article introduces a novel design algorithm for the cooperative formation control of multirotors with directed and switching topology, transforming the formation control problem into an output agreement problem and developing a class of cooperative controllers. Numerical simulations and physical experiments were conducted to verify the effectiveness of the proposed design.
This article presents a novel design algorithm for the cooperative formation control of multirotors with directed and switching topology. A key strategy is to transform the formation control problem into an output agreement problem for which a class of cooperative controllers with successive loops is developed to achieve output agreement. For practical implementation, velocities and accelerations of the controlled multirotors are restricted to within desired ranges by introducing appropriate saturations to the loops. It is proved that each controlled multirotor admits an invariant set property, and the formation control objective can be achieved if a mild joint connectivity condition is satisfied by the switching topology. Along the way, this article also proves a result of independent interest in the output agreement problem subject to both velocity and control input constraints with switching topology. Numerical simulations and physical experiments are employed to verify the effectiveness of the proposed design.
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