Consensus-based cooperative control for geometric configuration of UAVs flying in formation

Yasuhiro Kuriki, Toru Namerikawa

Research output: Contribution to conferencePaper

9 Citations (Scopus)

Abstract

In this paper, we study cooperative control problems with a multi-UAV system expressed as a first-order system. Specifically, we describe a problem that cooperatively controlled UAVs change geometric configuration between multiple UAVs while the UAVs are flying in formation. In other words, each of the UAVs must intensionally change relative position between the UAV and the leader while the UAVs are cooperatively controlled. We propose a control algorithm to change geometric configuration among the UAVs arbitrarily while the cooperatively controlled UAVs are flying in formation. The control algorithm is based on a consensus algorithm. A leader-follower structure is also applied to provide the UAVs with commands from a leader. The control algorithm has an advantage in finding a controller gain to stabilize the multi-UAV system. In addition, the convergence speed does not depend on the network structure of the system. Finally, the proposed approach is validated by some simulations.

Original languageEnglish
Pages1237-1242
Number of pages6
Publication statusPublished - 2013 Jan 1
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: 2013 Sep 142013 Sep 17

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period13/9/1413/9/17

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Keywords

  • Consensus
  • Cooperative control
  • Formation
  • UAVs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Kuriki, Y., & Namerikawa, T. (2013). Consensus-based cooperative control for geometric configuration of UAVs flying in formation. 1237-1242. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.