A decentralized control approach to formation maneuvers in Multiple Unmanned Aerial Vehicles

被引：0
|
作者：
Liu, Weiheng [1 ,2 ]
Zheng, Xin [1 ,3 ]
Luo, Yang [2 ]
机构：
[1] Beijing Inst Technol, Beijing, Peoples R China
[2] HIWING Gen Aviat Equipment Co Ltd, Beijing, Peoples R China
[3] China Aerosp Sci & Technol Grp, Beijing, Peoples R China
来源：
PROCEEDINGS OF 2020 3RD INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS) | 2020年
关键词：
distributed control approach; coordination; control; unmanned aerial vehicle; dynamic model; formation maneuver;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a decentralized control approach to formation maneuver. The dynamic model of multiple unmanned aerial vehicles is established, and the position and velocity are regarded as coordination variables of formation. Through the second-order integral dynamics feedback linearization, the consistency coordination strategy is coupled with the dynamics input. The formation error and position error functions of multiple unmanned aerial vehicles are established, and two contradictions of formation maneuver are balanced by error parameters. Simulation results demonstrate the effectiveness and strategy of the proposed approach.
引用
收藏
页码：685 / 689
页数：5
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