TY - GEN
T1 - Formation tracking of unmanned aerial vehicle swarm systems with predefined formation reference and switching topologies
AU - Yan, Rui
AU - Zhou, Yan
AU - Shi, Zongying
AU - Zhong, Yisheng
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - Formation control problems for second-order unmanned aerial vehicle (UAV) swarm systems with switching topologies to achieve the time-varying formation and the predefined time-varying formation reference are investigated. The second-order UAV swarm systems considered are not only required to achieve the specified time-varying formation but also track the predefined time-varying formation reference, and the switching topologies are also taken into consideration. To achieve the predefined time-varying formation reference, a new time-varying formation protocol is proposed, and the formation problem is transformed into the consensus problem. Sufficient and necessary conditions for second-order UAV swarm systems modeled by double integrator to achieve the time-varying formation and the predefined time-varying formation reference are presented. Finally, a quadrotor formation platform consisting of three quadrotors is introduced. The simulation and experiment to demonstrate the efficiency of the proposed formation tracking theory are performed.
AB - Formation control problems for second-order unmanned aerial vehicle (UAV) swarm systems with switching topologies to achieve the time-varying formation and the predefined time-varying formation reference are investigated. The second-order UAV swarm systems considered are not only required to achieve the specified time-varying formation but also track the predefined time-varying formation reference, and the switching topologies are also taken into consideration. To achieve the predefined time-varying formation reference, a new time-varying formation protocol is proposed, and the formation problem is transformed into the consensus problem. Sufficient and necessary conditions for second-order UAV swarm systems modeled by double integrator to achieve the time-varying formation and the predefined time-varying formation reference are presented. Finally, a quadrotor formation platform consisting of three quadrotors is introduced. The simulation and experiment to demonstrate the efficiency of the proposed formation tracking theory are performed.
KW - Concensus theory
KW - predefined formation reference
KW - switching topologies
KW - time-varying formation tracking
KW - unmanned aerial vehicles
UR - https://www.scopus.com/pages/publications/85015203948
U2 - 10.1109/ICARCV.2016.7838735
DO - 10.1109/ICARCV.2016.7838735
M3 - 会议稿件
AN - SCOPUS:85015203948
T3 - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
BT - 2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016
Y2 - 13 November 2016 through 15 November 2016
ER -