@inproceedings{390013bad1f54f55920c33d670524062,
title = "Formation Control Approach for Multi-UAV System Based on Consensus Method",
abstract = "This paper investigates the formation control problem for multi-UAV system (MUS) through the consensus method in order to maintain the desired formation during the flight process. Firstly, the communication topology and the formation geometry model of MUS are established, in which the desired formation is described by a formation relationship matrix. Two cooperative variables are also defined in order to design the consensus formation control algorithm. Secondly, the consensus formation control algorithm whose output is the desired acceleration of each UAV in MUS is designed. The desired acceleration command is transformed to the desired overload command later. Then, the convergence analysis is also given to prove that the MUS can achieve information consensus. Finally, the numerical simulation is performed to demonstrate the performance of the proposed algorithm.",
keywords = "Formation maintaining, Information consensus, Multi-UAV system",
author = "Bin Ren and Honglun Wang and Menghua Zhang and Yiheng Liu",
note = "Publisher Copyright: {\textcopyright} 2023, Beijing HIWING Sci. and Tech. Info Inst.; International Conference on Autonomous Unmanned Systems, ICAUS 2022 ; Conference date: 23-09-2022 Through 25-09-2022",
year = "2023",
doi = "10.1007/978-981-99-0479-2\_38",
language = "英语",
isbn = "9789819904785",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "401--410",
editor = "Wenxing Fu and Mancang Gu and Yifeng Niu",
booktitle = "Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022",
address = "德国",
}