Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies
Formation control problems for unmanned aerial vehicle (UAV) swarm systems with directed and switching topologies are investigated. A general formation control protocol is proposed firstly. Then, by variable transformation, the formation problem is transformed into a consensus problem, which can be...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/7657452 |
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| _version_ | 1832563101738729472 |
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| author | Yahui Qi Shaolei Zhou Yuhang Kang Shi Yan |
| author_facet | Yahui Qi Shaolei Zhou Yuhang Kang Shi Yan |
| author_sort | Yahui Qi |
| collection | DOAJ |
| description | Formation control problems for unmanned aerial vehicle (UAV) swarm systems with directed and switching topologies are investigated. A general formation control protocol is proposed firstly. Then, by variable transformation, the formation problem is transformed into a consensus problem, which can be solved by a novel matrix decomposition method. Sufficient conditions to achieve formation with directed and switching topologies are provided and an explicit expression of the formation reference function is given. Furthermore, an algorithm to design the gain matrices of the protocol is presented. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. |
| format | Article |
| id | doaj-art-88800084b3784d8b8522e33943827db7 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-88800084b3784d8b8522e33943827db72025-02-03T01:20:59ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742016-01-01201610.1155/2016/76574527657452Formation Control for Unmanned Aerial Vehicles with Directed and Switching TopologiesYahui Qi0Shaolei Zhou1Yuhang Kang2Shi Yan3Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264000, ChinaDepartment of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264000, ChinaDepartment of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264000, ChinaDepartment of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264000, ChinaFormation control problems for unmanned aerial vehicle (UAV) swarm systems with directed and switching topologies are investigated. A general formation control protocol is proposed firstly. Then, by variable transformation, the formation problem is transformed into a consensus problem, which can be solved by a novel matrix decomposition method. Sufficient conditions to achieve formation with directed and switching topologies are provided and an explicit expression of the formation reference function is given. Furthermore, an algorithm to design the gain matrices of the protocol is presented. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results.http://dx.doi.org/10.1155/2016/7657452 |
| spellingShingle | Yahui Qi Shaolei Zhou Yuhang Kang Shi Yan Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies International Journal of Aerospace Engineering |
| title | Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies |
| title_full | Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies |
| title_fullStr | Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies |
| title_full_unstemmed | Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies |
| title_short | Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies |
| title_sort | formation control for unmanned aerial vehicles with directed and switching topologies |
| url | http://dx.doi.org/10.1155/2016/7657452 |
| work_keys_str_mv | AT yahuiqi formationcontrolforunmannedaerialvehicleswithdirectedandswitchingtopologies AT shaoleizhou formationcontrolforunmannedaerialvehicleswithdirectedandswitchingtopologies AT yuhangkang formationcontrolforunmannedaerialvehicleswithdirectedandswitchingtopologies AT shiyan formationcontrolforunmannedaerialvehicleswithdirectedandswitchingtopologies |