Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles: Theories and Applications

Qing Li; Yongzhao Hua; Xiwang Dong; Zhang Ren

doi:10.1016/j.ifacol.2022.05.009

Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles: Theories and Applications

Qing Li
, Yongzhao Hua^*
, Xiwang Dong
, Zhang Ren

^*此作品的通讯作者

Beihang University

科研成果: 期刊稿件 › 会议文章 › 同行评审

9 引用（Scopus）

摘要

Time-varying formation tracking (TVFT) problems for unmanned aerial vehicles (UAVs) swarm systems with the leader's unknown input are studied. The follower UAVs form an expected formation while tracking the leader UAV. According to the information of the neighboring UAVs, a TVFT control protocol is constructed. It's proved by Lyapunov stability theory that the error of each follower UAV converge to a specified boundary, which means that the swarm system of UAVs can realize the practical TVFT. A platform consisting of five Tello quadrotors and ultrawideband (UWB) positioning technology is given. The effectiveness of the TVFT control protocol is verified on numerical simulation and Tello-UWB experiment platform.

源语言	英语
页（从-至）	49-54
页数	6
期刊	IFAC-PapersOnLine
卷	55
期	3
DOI	https://doi.org/10.1016/j.ifacol.2022.05.009
出版状态	已出版 - 2022
活动	16th IFAC Symposium on Large Scale Complex Systems: Theory and Applications LSS 2022 - Xi'an, 中国期限: 22 4月 2022 → 24 4月 2022

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10.1016/j.ifacol.2022.05.009

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title = "Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles: Theories and Applications",

abstract = "Time-varying formation tracking (TVFT) problems for unmanned aerial vehicles (UAVs) swarm systems with the leader's unknown input are studied. The follower UAVs form an expected formation while tracking the leader UAV. According to the information of the neighboring UAVs, a TVFT control protocol is constructed. It's proved by Lyapunov stability theory that the error of each follower UAV converge to a specified boundary, which means that the swarm system of UAVs can realize the practical TVFT. A platform consisting of five Tello quadrotors and ultrawideband (UWB) positioning technology is given. The effectiveness of the TVFT control protocol is verified on numerical simulation and Tello-UWB experiment platform.",

keywords = "Formation tracking control, swarm system, time-varying formation, unmanned aerial vehicle(UAV)",

author = "Qing Li and Yongzhao Hua and Xiwang Dong and Zhang Ren",

note = "Publisher Copyright: {\textcopyright} 2022 Elsevier B.V.. All rights reserved.; 16th IFAC Symposium on Large Scale Complex Systems: Theory and Applications LSS 2022 ; Conference date: 22-04-2022 Through 24-04-2022",

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doi = "10.1016/j.ifacol.2022.05.009",

language = "英语",

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TY - JOUR

T1 - Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles

T2 - 16th IFAC Symposium on Large Scale Complex Systems: Theory and Applications LSS 2022

AU - Li, Qing

AU - Hua, Yongzhao

AU - Dong, Xiwang

AU - Ren, Zhang

PY - 2022

Y1 - 2022

N2 - Time-varying formation tracking (TVFT) problems for unmanned aerial vehicles (UAVs) swarm systems with the leader's unknown input are studied. The follower UAVs form an expected formation while tracking the leader UAV. According to the information of the neighboring UAVs, a TVFT control protocol is constructed. It's proved by Lyapunov stability theory that the error of each follower UAV converge to a specified boundary, which means that the swarm system of UAVs can realize the practical TVFT. A platform consisting of five Tello quadrotors and ultrawideband (UWB) positioning technology is given. The effectiveness of the TVFT control protocol is verified on numerical simulation and Tello-UWB experiment platform.

AB - Time-varying formation tracking (TVFT) problems for unmanned aerial vehicles (UAVs) swarm systems with the leader's unknown input are studied. The follower UAVs form an expected formation while tracking the leader UAV. According to the information of the neighboring UAVs, a TVFT control protocol is constructed. It's proved by Lyapunov stability theory that the error of each follower UAV converge to a specified boundary, which means that the swarm system of UAVs can realize the practical TVFT. A platform consisting of five Tello quadrotors and ultrawideband (UWB) positioning technology is given. The effectiveness of the TVFT control protocol is verified on numerical simulation and Tello-UWB experiment platform.

KW - Formation tracking control

KW - swarm system

KW - time-varying formation

KW - unmanned aerial vehicle(UAV)

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DO - 10.1016/j.ifacol.2022.05.009

M3 - 会议文章

AN - SCOPUS:85134518045

SN - 2405-8971

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JO - IFAC-PapersOnLine

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Time-Varying Formation Tracking Control for Unmanned Aerial Vehicles: Theories and Applications

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