Formation control of UAVs with a fourth-order flight dynamics

Yasuhiro Kuriki, Toru Namerikawa

研究成果: Conference contribution

38 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
出版社Institute of Electrical and Electronics Engineers Inc.
ページ6706-6711
ページ数6
ISBN(印刷版)9781467357173
DOI
出版ステータスPublished - 2013 1 1
イベント52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
継続期間: 2013 12 102013 12 13

出版物シリーズ

名前Proceedings of the IEEE Conference on Decision and Control
ISSN(印刷版)0191-2216

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 制御と最適化

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