TY - GEN
T1 - Time-varying formation tracking control for UAV-UGV heterogeneous swarm systems with switching directed topologies
AU - Zhou, Siquan
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/9
Y1 - 2020/10/9
N2 - This paper studies time-varying formation tracking control problems for UAV-UGV heterogeneous swarm systems. The UAVs and UGVs need to achieve the desired time-varying formation and track the reference trajectory of a leader synchronously under switching directed topologies. Firstly, the cooperative control model for UAV-UGV heterogeneous swarm system is established by using algebraic graph theory. Then, the formation tracking control protocol based on a distributed observer is designed and the convergence is proved by using piecewise Lyapunov theory. Furthermore, the feasible conditions to achieve the time-varying formation tracking are analyzed, and the algorithm to select the control parameters is proposed. Finally, a numerical simulation example is provided to demonstrate the effectiveness of the proposed control approach.
AB - This paper studies time-varying formation tracking control problems for UAV-UGV heterogeneous swarm systems. The UAVs and UGVs need to achieve the desired time-varying formation and track the reference trajectory of a leader synchronously under switching directed topologies. Firstly, the cooperative control model for UAV-UGV heterogeneous swarm system is established by using algebraic graph theory. Then, the formation tracking control protocol based on a distributed observer is designed and the convergence is proved by using piecewise Lyapunov theory. Furthermore, the feasible conditions to achieve the time-varying formation tracking are analyzed, and the algorithm to select the control parameters is proposed. Finally, a numerical simulation example is provided to demonstrate the effectiveness of the proposed control approach.
KW - Formation tracking control
KW - UAV-UGV heterogeneous swarm system
KW - distributed observer
KW - switching topologies
UR - https://www.scopus.com/pages/publications/85098062231
U2 - 10.1109/ICCA51439.2020.9264359
DO - 10.1109/ICCA51439.2020.9264359
M3 - 会议稿件
AN - SCOPUS:85098062231
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 1068
EP - 1073
BT - 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020
PB - IEEE Computer Society
T2 - 16th IEEE International Conference on Control and Automation, ICCA 2020
Y2 - 9 October 2020 through 11 October 2020
ER -