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

Shouhei Mori, Toru Namerikawa

Research output: Contribution to journalArticle

2 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 languageEnglish
Pages (from-to)343-350
Number of pages8
JournalJournal of Robotics and Mechatronics
Volume28
Issue number3
DOIs
Publication statusPublished - 2016

Keywords

  • Formation
  • LMI
  • Multi-agent
  • Network
  • UAV

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science(all)

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