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 | |
| Publication status | Published - 2016 |
Keywords
- Formation
- LMI
- Multi-agent
- Network
- UAV
ASJC Scopus subject areas
- Computer Science(all)
- Electrical and Electronic Engineering