Three-dimensional containment control for multiple unmanned aerial vehicles

被引：46

作者：

Han, Tao ^{[1
]}

Guan, Zhi-Hong ^{[1
]}

Wu, Yonghong ^{[2
]}

Zheng, Ding-Fu ^{[1
]}

Zhang, Xian-He ^{[3
]}

Xiao, Jiang-Wen ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, Coll Automat, Wuhan 430074, Peoples R China

[2] Wuhan Univ Technol, Sch Sci, Wuhan 430070, Peoples R China

[3] Hubei Normal Univ, Coll Mechatron & Control Engn, Huangshi 435002, Peoples R China

来源：

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2016年 / 353卷 / 13期

基金：

中国国家自然科学基金;

关键词：

MULTIAGENT SYSTEMS; SUFFICIENT CONDITIONS; COOPERATIVE CONTROL; LEADERS; FLIGHT; DELAYS; UAVS;

D O I：

10.1016/j.jfranklin.2016.05.018

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 paper, the three-dimensional containment control problems of multiple unmanned aerial vehicle (UAV) systems are solved for both stationary and dynamic master UAV cases. For the stationary case, a distributed linear containment control protocol is constructed only using relative state information, where the gain matrix can be. determined by solving the modified algebraic Riccati inequality. Then, for the dynamic case, a sampled-data based protocol is induced by choosing the sampling period and gain parameter properly. Using tools from Lyapunov stability and algebraic graph theories, the proposed control protocols guarantee that the states of the slave UAVs will ultimately converge into the convex hull spanned by the master UAVs in the three-dimensional space. Finally, two numerical simulations are carried out to validate the effectiveness of theoretical results. (C) 2016 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

引用

页码：2929 / 2942

页数：14

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