@inproceedings{ad9b2271f1c444a5ad89619a1e5fa0a0,
title = "Time-varying formation tracking for UAV swarm systems with switching interaction topologies",
abstract = "Time-varying formation tracking problems for unmanned aerial vehicle (UAV) swarm systems with switching interaction topologies are studied, where the states of the follower UAVs form a predefined time-varying formation while tracking the state of the leader UAV. A formation tracking protocol is constructed using only relative information of neighboring UAVs. An approach to design the formation tracking protocol is proposed by solving an algebraic Riccati equation, and the stability of the proposed approach is proven using the common Lyapunov stability theory. The obtained results are applied to solve the target enclosing problem of a quadrotor swarm system consisting of one leader (target) quadrotor and three follower quadrotors. Both a numerical simulation and an outdoor experiment are presented to demonstrate the effectiveness of the theoretical results.",
keywords = "Formation tracking control, swarm system, switching interaction topology, target enclosing, unmanned aerial vehicle (UAV)",
author = "Yan Zhou and Xiwang Dong and Yisheng Zhong",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7554571",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "7658--7665",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "美国",
}