Fully Distributed Cooperative Circumnavigation of Networked Unmanned Aerial Vehicles

被引：23

作者：

Li, Dongyu ^{[1
,2
]}

Cao, Kun ^{[3
]}

Kong, Linghuan ^{[4
]}

Yu, Haoyong ^{[2
]}

机构：

[1] Beihang Univ, Sch Cyber Sci & Technol, Beijing 100191, Peoples R China

[2] Natl Univ Singapore, Dept Biomed Engn, Singapore 117583, Singapore

[3] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore

[4] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2021年 / 26卷 / 02期

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); COLLECTIVE CIRCULAR MOTION; TRACKING CONTROL; COORDINATION; TARGET; DELAY;

D O I：

10.1109/TMECH.2021.3055654

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：709 / 718

页数：10

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