Consensus-based cooperative formation control for multiquadcopter system with unidirectional network connections

Toru Namerikawa, Yasuhiro Kuriki, Ahmed Khalifa

研究成果: Article査読

13 被引用数 (Scopus)

抄録

In this paper, we consider cooperative control issues for a multiunmanned aerial vehicle (UAV) system. We propose a cooperative formation control strategy with unidirectional network connections between UAVs. Our strategy is to apply a consensus-based algorithm to the UAVs so that they can cooperatively fly in formation. First, we show that UAV models on the horizontal plane and in the vertical direction are expressed as a fourth- and secondorder system, respectively. Then, we show that the stability discriminants of the multi-UAV system on the horizontal plane and in the vertical direction are expressed as polynomials. For a network structure composed of bidirectional or unidirectional network connections under the assumption that the network has a directed spanning tree, we provide conditions for formation control gains such that all roots of the polynomials have negative real parts in order for the UAVs to asymptotically converge to the positions for a desired formation by using the generalized Routh stability criterion. The proposed control algorithms are validated through simulations, and experiments are performed on multiple commercial small UAVs to validate the proposed control algorithm.

本文言語English
論文番号044502
ジャーナルJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
140
4
DOI
出版ステータスPublished - 2018 4月 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 情報システム
  • 器械工学
  • 機械工学
  • コンピュータ サイエンスの応用

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