TY - JOUR
T1 - Three-dimensional multiple unmanned aerial vehicles formation control strategy based on second-order consensus
AU - Zhu, Xu
AU - Zhang, Xun Xun
AU - Yan, Mao De
AU - Qu, Yao Hong
AU - Lin, Hai
N1 - Publisher Copyright:
© 2016, © IMechE 2016.
PY - 2018/3/1
Y1 - 2018/3/1
N2 - Considering three-dimensional formation control for multiple unmanned aerial vehicles, this paper proposes a second-order consensus strategy by utilizing the position and velocity coordinate variables. To maintain the specified geometric configuration, a cooperative guidance algorithm and a cooperative control algorithm are proposed together to manage the position and attitude, respectively. The cooperative guidance law, which is designed as a second-order consensus algorithm, provides the desired pitch rate, heading rate and acceleration. In addition, a synchronization technology is put forward to reduce the influence of the measurement errors for the cooperative guidance law. The cooperative control law, regarding the output of the cooperative guidance law as its input, is designed by deducing the state-space expression of both the longitudinal and lateral motions. The formation stability is analyzed to give a sufficient and necessary condition. Finally, the simulations for the three-dimensional formation control demonstrate the feasibility and effectiveness of the second-order consensus strategy.
AB - Considering three-dimensional formation control for multiple unmanned aerial vehicles, this paper proposes a second-order consensus strategy by utilizing the position and velocity coordinate variables. To maintain the specified geometric configuration, a cooperative guidance algorithm and a cooperative control algorithm are proposed together to manage the position and attitude, respectively. The cooperative guidance law, which is designed as a second-order consensus algorithm, provides the desired pitch rate, heading rate and acceleration. In addition, a synchronization technology is put forward to reduce the influence of the measurement errors for the cooperative guidance law. The cooperative control law, regarding the output of the cooperative guidance law as its input, is designed by deducing the state-space expression of both the longitudinal and lateral motions. The formation stability is analyzed to give a sufficient and necessary condition. Finally, the simulations for the three-dimensional formation control demonstrate the feasibility and effectiveness of the second-order consensus strategy.
KW - consensus
KW - guidance and control
KW - Multiple unmanned aerial vehicles
KW - stability
KW - synchronization technology
UR - http://www.scopus.com/inward/record.url?scp=85042557964&partnerID=8YFLogxK
U2 - 10.1177/0954410016680644
DO - 10.1177/0954410016680644
M3 - 文章
AN - SCOPUS:85042557964
SN - 0954-4100
VL - 232
SP - 481
EP - 491
JO - Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
IS - 3
ER -