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 -