Formation control of VTOL Unmanned Aerial Vehicles with communication delays

被引：320

作者：

Abdessameud, Abdelkader ^{[1
]}

Tayebi, Abdelhamid ^{[1
,2
]}

机构：

[1] Univ Western Ontario, Dept Elect & Comp Engn, London, ON N6A 3K7, Canada

[2] Lakehead Univ, Dept Elect Engn, Thunder Bay, ON P7B 5E1, Canada

来源：

AUTOMATICA | 2011年 / 47卷 / 11期

关键词：

Formation control; VTOL aircraft; Unmanned Aerial Vehicles; Communication delays; TRAJECTORY TRACKING CONTROL; CONSENSUS; SYNCHRONIZATION; ALGORITHMS; FLOCKING; NETWORKS; AGENTS;

D O I：

10.1016/j.automatica.2011.08.042

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The formation control problem of a team of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) with communication delays is addressed. Based on the extraction algorithm presented in Abdessameud and Tayebi (2010a), we propose a new design methodology that simplifies the design of formation control laws with delayed communication for this class of under-actuated systems. Three control schemes are presented that provide delay-dependent and delay-independent results with constant and time-varying communication delays. The stability of the overall closed loop system in each scheme is established using Lyapunov-Krasovskii functionals. The proposed design methodology achieves global results in terms of the position and removes the requirement of the linear-velocity measurements. Simulation results are provided to show the effectiveness of the proposed control schemes. (C) 2011 Elsevier Ltd. All rights reserved.

引用

页码：2383 / 2394

页数：12

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