Consensus-based cooperative control for geometric configuration of UAVs flying in formation

Yasuhiro Kuriki, Toru Namerikawa

研究成果: Paper査読

12 被引用数 (Scopus)

抄録

In this paper, we study cooperative control problems with a multi-UAV system expressed as a first-order system. Specifically, we describe a problem that cooperatively controlled UAVs change geometric configuration between multiple UAVs while the UAVs are flying in formation. In other words, each of the UAVs must intensionally change relative position between the UAV and the leader while the UAVs are cooperatively controlled. We propose a control algorithm to change geometric configuration among the UAVs arbitrarily while the cooperatively controlled UAVs are flying in formation. The control algorithm is based on a consensus algorithm. A leader-follower structure is also applied to provide the UAVs with commands from a leader. The control algorithm has an advantage in finding a controller gain to stabilize the multi-UAV system. In addition, the convergence speed does not depend on the network structure of the system. Finally, the proposed approach is validated by some simulations.

本文言語English
ページ1237-1242
ページ数6
出版ステータスPublished - 2013 1月 1
イベント2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
継続期間: 2013 9月 142013 9月 17

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
国/地域Japan
CityNagoya
Period13/9/1413/9/17

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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