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

Shouhei Mori, Toru Namerikawa

研究成果: Article査読

3 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)343-350
ページ数8
ジャーナルJournal of Robotics and Mechatronics
28
3
DOI
出版ステータスPublished - 2016

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)
  • 電子工学および電気工学

フィンガープリント

「Formation control considering disconnection of network links for a Multi-UAV system: An LMI approach」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル