Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles: Theories and Applications

被引：4
|
作者：
Li, Qing [1 ]
Hua, Yongzhao [2 ]
Dong, Xiwang [2 ]
Ren, Zhang [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
[2] Beihang Univ, Inst Artificial Intelligence, Beijing 100191, Peoples R China
来源：
IFAC PAPERSONLINE | 2022年 / 55卷 / 03期
关键词：
Formation tracking control; swarm system; time-varying formation; unmanned aerial vehicle(UAV); MULTIAGENT SYSTEMS;
D O I：
10.1016/j.ifacol.2022.05.009
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Time-varying formation tracking (TVFT) problems for unmanned aerial vehicles (UAVs) swarm systems with the leader's unknown input are studied. The follower UAVs form an expected formation while tracking the leader UAV. According to the information of the neighboring UAVs, a TVFT control protocol is constructed. It's proved by Lyapunov stability theory that the error of each follower UAV converge to a specified boundary, which means that the swarm system of UAVs can realize the practical TVFT. A platform consisting of five Tello quadrotors and ultrawideband (UWB) positioning technology is given. The effectiveness of the TVFT control protocol is verified on numerical simulation and Tello-UWB experiment platform. Copyright (C) 2022 The Authors.
引用
收藏
页码：49 / 54
页数：6
相关论文
共 50 条
  • [41] Time-varying Formation Tracking Control for Multi-agent Systems with Input Saturation
    Li, Xiaoduo
    Dong, Xiwang
    Li, Qingdong
    Ren, Zhang
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 8737 - 8742
  • [42] Decentralized adaptive control for time-varying formation tracking of multi-agent system
    Hu, Jinglin
    Sun, Xiuxia
    He, Lei
    PROCEEDINGS OF 2018 5TH IEEE INTERNATIONAL CONFERENCE ON CLOUD COMPUTING AND INTELLIGENCE SYSTEMS (CCIS), 2018, : 17 - 22
  • [43] Consensus Tracking Control of Multiple Unmanned Aerial Vehicles Subject to Distinct Unknown Delays
    Campos-Martinez, Sandy-Natalie
    Hernandez-Gonzalez, Omar
    Guerrero-Sanchez, Maria-Eusebia
    Valencia-Palomo, Guillermo
    Targui, Boubekeur
    Lopez-Estrada, Francisco-Ronay
    MACHINES, 2024, 12 (05)
  • [44] Trophallaxis network control approach to formation flight of multiple unmanned aerial vehicles
    HaiBin Duan
    QiNan Luo
    YaXiang Yu
    Science China Technological Sciences, 2013, 56 : 1066 - 1074
  • [45] Trophallaxis network control approach to formation flight of multiple unmanned aerial vehicles
    DUAN HaiBin
    LUO QiNan
    YU YaXiang
    Science China(Technological Sciences), 2013, (05) : 1066 - 1074
  • [46] Trophallaxis network control approach to formation flight of multiple unmanned aerial vehicles
    Duan HaiBin
    Luo QiNan
    Yu YaXiang
    SCIENCE CHINA-TECHNOLOGICAL SCIENCES, 2013, 56 (05) : 1066 - 1074
  • [47] Time-varying Formation Tracking with Collision Avoidance for Multi-agent Systems
    Santiaguillo-Salinas, J.
    Aranda-Bricaire, E.
    IFAC PAPERSONLINE, 2017, 50 (01): : 309 - 314
  • [48] Distributed sliding mode control for time-varying formation tracking of multi-UAV system with a dynamic leader
    Wang, Jianhua
    Han, Liang
    Dong, Xiwang
    Li, Qingdong
    Ren, Zhang
    AEROSPACE SCIENCE AND TECHNOLOGY, 2021, 111
  • [49] Time-varying formation tracking for multi-agent systems based on prescribed-time control
    Hou, Tianle
    Bi, Wenhao
    Huang, Zhanjun
    Yang, Pan
    Zhang, An
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2025,
  • [50] Time-varying formation tracking for UGV swarm systems with switching directed topologies
    Lu, Chuang
    Wang, Zhenmin
    Dong, Xiwang
    Li, Qingdong
    Ren, Zhang
    2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 7049 - 7054
12345