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 language | English |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 1237-1242 |
| Number of pages | 6 |
| Publication status | Published - 2013 |
| Event | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan Duration: 2013 Sep 14 → 2013 Sep 17 |
Other
| Other | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 |
|---|---|
| Country | Japan |
| City | Nagoya |
| Period | 13/9/14 → 13/9/17 |
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Keywords
- Consensus
- Cooperative control
- Formation
- UAVs
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Consensus-based cooperative control for geometric configuration of UAVs flying in formation. / Kuriki, Yasuhiro; Namerikawa, Toru.
Proceedings of the SICE Annual Conference. 2013. p. 1237-1242.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Consensus-based cooperative control for geometric configuration of UAVs flying in formation
AU - Kuriki, Yasuhiro
AU - Namerikawa, Toru
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
KW - Consensus
KW - Cooperative control
KW - Formation
KW - UAVs
UR - http://www.scopus.com/inward/record.url?scp=84888613998&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84888613998&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84888613998
SP - 1237
EP - 1242
BT - Proceedings of the SICE Annual Conference
ER -