Cooperative control for UAV formation flight based on decentralized consensus algorithm

Yaohong Qu; Xu Zhu; Youmin M. Zhang

doi:10.1007/978-3-642-33509-9_35

Cooperative control for UAV formation flight based on decentralized consensus algorithm

Yaohong Qu, Xu Zhu, Youmin M. Zhang

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Scopus citations

Abstract

Decentralized consensus algorithm is suggested to maintain a specified formation configuration of multiple Unmanned Aerial Vehicles (UAVs). As no explicit leader exists in the team, only the local neighbor-to-neighbor information between vehicles is needed for the proposed control strategy. Position of the virtual leader and attitude of each UAV is the convergence state variable chosen for the algorithm. Communication limits and measurement errors are also considered to improve robustness. Besides, the motion synchronization technology is incorporated to achieve coordinated control of the UAVs, such that coupled relative position errors are used to calculate the trajectory modification. Finally, conclusion is conducted based on the testing results with simulation examples.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings
Pages	357-366
Number of pages	10
Edition	PART 1
DOIs	https://doi.org/10.1007/978-3-642-33509-9_35
State	Published - 2012
Event	5th International Conference on Intelligent Robotics and Applications, ICIRA 2012 - Montreal, QC, Canada Duration: 3 Oct 2012 → 5 Oct 2012

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	7506 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	5th International Conference on Intelligent Robotics and Applications, ICIRA 2012
Country/Territory	Canada
City	Montreal, QC
Period	3/10/12 → 5/10/12

Keywords

Decentralized consensus
Formation control
Synchronization technology
Unmanned Aerial Vehicle (UAV)

Access to Document

10.1007/978-3-642-33509-9_35

Cite this

Qu, Y., Zhu, X., & Zhang, Y. M. (2012). Cooperative control for UAV formation flight based on decentralized consensus algorithm. In Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings (PART 1 ed., pp. 357-366). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7506 LNAI, No. PART 1). https://doi.org/10.1007/978-3-642-33509-9_35

Qu, Yaohong ; Zhu, Xu ; Zhang, Youmin M. / Cooperative control for UAV formation flight based on decentralized consensus algorithm. Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings. PART 1. ed. 2012. pp. 357-366 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

@inproceedings{c59d97b198aa42b2a4a3a37c3f7edae8,

title = "Cooperative control for UAV formation flight based on decentralized consensus algorithm",

abstract = "Decentralized consensus algorithm is suggested to maintain a specified formation configuration of multiple Unmanned Aerial Vehicles (UAVs). As no explicit leader exists in the team, only the local neighbor-to-neighbor information between vehicles is needed for the proposed control strategy. Position of the virtual leader and attitude of each UAV is the convergence state variable chosen for the algorithm. Communication limits and measurement errors are also considered to improve robustness. Besides, the motion synchronization technology is incorporated to achieve coordinated control of the UAVs, such that coupled relative position errors are used to calculate the trajectory modification. Finally, conclusion is conducted based on the testing results with simulation examples.",

keywords = "Decentralized consensus, Formation control, Synchronization technology, Unmanned Aerial Vehicle (UAV)",

author = "Yaohong Qu and Xu Zhu and Zhang, {Youmin M.}",

year = "2012",

doi = "10.1007/978-3-642-33509-9_35",

language = "英语",

isbn = "9783642335082",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

number = "PART 1",

pages = "357--366",

booktitle = "Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings",

edition = "PART 1",

note = "5th International Conference on Intelligent Robotics and Applications, ICIRA 2012 ; Conference date: 03-10-2012 Through 05-10-2012",

}

Qu, Y, Zhu, X & Zhang, YM 2012, Cooperative control for UAV formation flight based on decentralized consensus algorithm. in Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 7506 LNAI, pp. 357-366, 5th International Conference on Intelligent Robotics and Applications, ICIRA 2012, Montreal, QC, Canada, 3/10/12. https://doi.org/10.1007/978-3-642-33509-9_35

Cooperative control for UAV formation flight based on decentralized consensus algorithm. / Qu, Yaohong; Zhu, Xu; Zhang, Youmin M.
Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings. PART 1. ed. 2012. p. 357-366 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 7506 LNAI, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Cooperative control for UAV formation flight based on decentralized consensus algorithm

AU - Qu, Yaohong

AU - Zhu, Xu

AU - Zhang, Youmin M.

PY - 2012

Y1 - 2012

N2 - Decentralized consensus algorithm is suggested to maintain a specified formation configuration of multiple Unmanned Aerial Vehicles (UAVs). As no explicit leader exists in the team, only the local neighbor-to-neighbor information between vehicles is needed for the proposed control strategy. Position of the virtual leader and attitude of each UAV is the convergence state variable chosen for the algorithm. Communication limits and measurement errors are also considered to improve robustness. Besides, the motion synchronization technology is incorporated to achieve coordinated control of the UAVs, such that coupled relative position errors are used to calculate the trajectory modification. Finally, conclusion is conducted based on the testing results with simulation examples.

AB - Decentralized consensus algorithm is suggested to maintain a specified formation configuration of multiple Unmanned Aerial Vehicles (UAVs). As no explicit leader exists in the team, only the local neighbor-to-neighbor information between vehicles is needed for the proposed control strategy. Position of the virtual leader and attitude of each UAV is the convergence state variable chosen for the algorithm. Communication limits and measurement errors are also considered to improve robustness. Besides, the motion synchronization technology is incorporated to achieve coordinated control of the UAVs, such that coupled relative position errors are used to calculate the trajectory modification. Finally, conclusion is conducted based on the testing results with simulation examples.

KW - Decentralized consensus

KW - Formation control

KW - Synchronization technology

KW - Unmanned Aerial Vehicle (UAV)

UR - http://www.scopus.com/inward/record.url?scp=84892893598&partnerID=8YFLogxK

U2 - 10.1007/978-3-642-33509-9_35

DO - 10.1007/978-3-642-33509-9_35

M3 - 会议稿件

AN - SCOPUS:84892893598

SN - 9783642335082

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 357

EP - 366

BT - Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings

T2 - 5th International Conference on Intelligent Robotics and Applications, ICIRA 2012

Y2 - 3 October 2012 through 5 October 2012

ER -

Qu Y, Zhu X, Zhang YM. Cooperative control for UAV formation flight based on decentralized consensus algorithm. In Intelligent Robotics and Applications - 5th International Conference, ICIRA 2012, Proceedings. PART 1 ed. 2012. p. 357-366. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-642-33509-9_35

Cooperative control for UAV formation flight based on decentralized consensus algorithm

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this