TY - GEN
T1 - Formation control of UAVs with a fourth-order flight dynamics
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 fourth-order system using a consensus algorithm. We first show that a linearized model of quadrotors is expressed as a fourth-order system, and then propose a formation control algorithm for the fourth-order system after formulating a problem. The proposed control law is based on a consensus algorithm and a leader-follower structure is also applied to the control law so that a leader can individually provide each of the quadrotors with information of their desired states. And then, we show that the proposed control algorithm can guarantee accurate formation keeping when fundamental assumptions about the network composed of the multiple UAVs are satisfied. 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 fourth-order system using a consensus algorithm. We first show that a linearized model of quadrotors is expressed as a fourth-order system, and then propose a formation control algorithm for the fourth-order system after formulating a problem. The proposed control law is based on a consensus algorithm and a leader-follower structure is also applied to the control law so that a leader can individually provide each of the quadrotors with information of their desired states. And then, we show that the proposed control algorithm can guarantee accurate formation keeping when fundamental assumptions about the network composed of the multiple UAVs are satisfied. Finally, the proposed approach is validated by some simulations.
UR - http://www.scopus.com/inward/record.url?scp=84902313406&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2013.6760951
DO - 10.1109/CDC.2013.6760951
M3 - Conference contribution
AN - SCOPUS:84902313406
SN - 9781467357173
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6706
EP - 6711
BT - 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 52nd IEEE Conference on Decision and Control, CDC 2013
Y2 - 10 December 2013 through 13 December 2013
ER -