Formation control considering disconnection of network links for a Multi-UAV system: An LMI approach

Shouhei Mori; Toru Namerikawa

doi:10.20965/jrm.2016.p0343

Formation control considering disconnection of network links for a Multi-UAV system: An LMI approach

Shouhei Mori, Toru Namerikawa

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

The formation control algorithm we propose for a multi-UAV uses LMI conditions. Starting with a linearized model of UAVs such as a quadrotor, we introduce a formation control algorithm based on a consensus algorithm, a leader-follower structure, graph theory and the Lyapunov stability theorem for a liner system. We propose the control algorithm using the Lyapunov theorem and LMI conditions for intermittent communication. We demonstrate the proposed control algorithm’s stability even when network links are disconnected. Numerical simulation and experimental validation show the proposed control’s effectiveness.

Original language	English
Pages (from-to)	343-350
Number of pages	8
Journal	Journal of Robotics and Mechatronics
Volume	28
Issue number	3
DOIs	https://doi.org/10.20965/jrm.2016.p0343
Publication status	Published - 2016

Keywords

Formation
LMI
Multi-agent
Network
UAV

ASJC Scopus subject areas

Electrical and Electronic Engineering
Computer Science(all)

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10.20965/jrm.2016.p0343

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abstract = "The formation control algorithm we propose for a multi-UAV uses LMI conditions. Starting with a linearized model of UAVs such as a quadrotor, we introduce a formation control algorithm based on a consensus algorithm, a leader-follower structure, graph theory and the Lyapunov stability theorem for a liner system. We propose the control algorithm using the Lyapunov theorem and LMI conditions for intermittent communication. We demonstrate the proposed control algorithm{\textquoteright}s stability even when network links are disconnected. Numerical simulation and experimental validation show the proposed control{\textquoteright}s effectiveness.",

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