Formation Control of Multi-UAV Systems using Zeroing Dynamics Method

被引：0

作者：

Zhang, Rui ^{[1
]}

Wang, Jianan ^{[1
]}

Liu, Yongshan ^{[1
]}

Li, Chaoyong ^{[2
]}

Shan, Jiayuan ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Aerosp Engn, 5 Zhongguancun South St, Beijing 100081, Peoples R China

[2] Zhejiang Univ, Coll Elect Engn, Hangzhou, Zhejiang, Peoples R China

来源：

PROCEEDINGS OF 2017 2ND INTERNATIONAL CONFERENCE ON COMMUNICATION AND INFORMATION SYSTEMS (ICCIS 2017) | 2015年

关键词：

Consensus algorithm; formation control; UAV; zeroing dynamics method; COOPERATIVE CONTROL; CONSENSUS;

D O I：

10.1145/3158233.3159384

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 deals with the formation control problem of multiple unmanned aerial vehicles (UAVs). The UAV models are considered highly nonlinear and only translational motion is considered. Zeroing dynamics was first adopted to tackle the position and velocity consensus and then extended to the application of formation control using a constant offset vector. The feasibility of the proposed algorithm was analyzed and simulation results of four UAVs' formation flying were shown to validate the effectiveness of the proposed formation control law.

引用

页码：419 / 425

页数：7

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