Three-dimensional multiple unmanned aerial vehicles formation control strategy based on second-order consensus

被引：8

作者：

Zhu, Xu ^{[1
]}

Zhang, Xun-Xun ^{[1
]}

Yan, Mao-De ^{[1
]}

Qu, Yao-Hong ^{[2
]}

Lin, Hai ^{[1
]}

机构：

[1] Changan Univ, Sch Elect & Control Engn, Mail Box 370,Sect Nan Erhuan Rd, Xian 710064, Shaanxi, Peoples R China

[2] Northwestern Polytech Univ, Sch Automat, Xian, Shaanxi, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING | 2018年 / 232卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Multiple unmanned aerial vehicles; consensus; guidance and control; stability; synchronization technology; COOPERATIVE-CONTROL; FORMATION FLIGHT; UAVS; DESIGN;

D O I：

10.1177/0954410016680644

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

Considering three-dimensional formation control for multiple unmanned aerial vehicles, this paper proposes a second-order consensus strategy by utilizing the position and velocity coordinate variables. To maintain the specified geometric configuration, a cooperative guidance algorithm and a cooperative control algorithm are proposed together to manage the position and attitude, respectively. The cooperative guidance law, which is designed as a second-order consensus algorithm, provides the desired pitch rate, heading rate and acceleration. In addition, a synchronization technology is put forward to reduce the influence of the measurement errors for the cooperative guidance law. The cooperative control law, regarding the output of the cooperative guidance law as its input, is designed by deducing the state-space expression of both the longitudinal and lateral motions. The formation stability is analyzed to give a sufficient and necessary condition. Finally, the simulations for the three-dimensional formation control demonstrate the feasibility and effectiveness of the second-order consensus strategy.

引用

页码：481 / 491

页数：11

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