Formation control of UAVs with a fourth-order flight dynamics

Yasuhiro Kuriki, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6706-6711
Number of pages6
ISBN (Print)9781467357173
DOIs
Publication statusPublished - 2013
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: 2013 Dec 102013 Dec 13

Other

Other52nd IEEE Conference on Decision and Control, CDC 2013
CountryItaly
CityFlorence
Period13/12/1013/12/13

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Kuriki, Y., & Namerikawa, T. (2013). Formation control of UAVs with a fourth-order flight dynamics. In Proceedings of the IEEE Conference on Decision and Control (pp. 6706-6711). [6760951] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6760951