Time-Varying Formation Tracking for UAV Swarm Systems With Switching Directed Topologies

被引：185

作者：

Dong, Xiwang ^{[1
]}

Li, Yangfan ^{[1
]}

Lu, Chuang ^{[1
]}

Hu, Guoqiang ^{[2
]}

Li, Qingdong ^{[1
]}

Ren, Zhang ^{[1
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

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

来源：

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS | 2019年 / 30卷 / 12期

基金：

北京市自然科学基金; 中国国家自然科学基金;

关键词：

Topology; Unmanned aerial vehicles; Switches; Protocols; Target tracking; Time-varying systems; Formation tracking control; swarm system; switching directed topology; target enclosing; unmanned aerial vehicle (UAV); UNMANNED AERIAL VEHICLES; MULTIAGENT SYSTEMS; MOBILE ROBOTS; COOPERATIVE CONTROL; CONSENSUS; NETWORKS; SEEKING;

D O I：

10.1109/TNNLS.2018.2873063

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Time-varying formation tracking (TVFT) control problems for a team of unmanned aerial vehicles (UAVs) with switching and directed interaction topologies are investigated, where the follower UAVs realize a given time-varying formation while tracking the leader UAV. A TVFT control protocol is firstly constructed utilizing local neighboring information, where the information of the leader UAV is only available to partial followers and the neighborhood can be switching. An algorithm composed of four steps is provided to design the TVFT protocol. It is proved that the UAV swarm system can realize the TVFT using the designed protocol if the dwell time for the switching directed topologies is larger than a fixed threshold and the TVFT feasibility condition is satisfied. Based on the ultrawideband positioning technology, a quadrotor UAV formation control platform with four quadrotor UAVs is given. The obtained theoretical results are applied to solve the target enclosing problems of the UAV swarm systems. A flying experiment for three follower quadrotor UAVs to enclose a leader quadrotor UAV is carried out to verify the effectiveness of the presented results.

引用

页码：3674 / 3685

页数：12

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