@inproceedings{8f416055180247939bf06332aefe3256,
title = "Distributed tracking of Unmanned Aerial Vehicles with switching interactions",
abstract = "This paper addresses the distributed control problem of multiple Unmanned Aerial Vehicles tracking a three-dimensional trajectory. Each vehicle only interacts with its local neighbors through switching interaction topology. Three related sub-problems are discussed in a unified control scheme: the distributed trajectory tracking, the trajectory tracking with input saturation, and the trajectory tracking with collision avoidance. The nonlinearities in the dynamics of vehicles are transformed into linear systems by feedback linearization. For the trajectory tracking problem, a distributed feedback control was derived by state feedback. With the consideration of bounded control inputs, a bounded distributed feedback control with input saturation was proposed. To deal with vehicle collision, an extended distributed feedback control with position offsets was presented. Simulations show the effectiveness of the proposed control algorithms.",
keywords = "Collision avoidance, Distributed control, Input saturation, Switching topology, Trajectory tracking",
author = "Kun Zhang and Xiaoguang Gao",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 8th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2016 ; Conference date: 11-09-2016 Through 12-09-2016",
year = "2016",
month = dec,
day = "13",
doi = "10.1109/IHMSC.2016.23",
language = "英语",
series = "Proceedings - 2016 8th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "46--49",
booktitle = "Proceedings - 2016 8th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2016",
}