Decentralized formation control for multiple UAVs based on leader-following consensus with time-varying delays

Author

Yan Ding ; Chen Wei ; Shuyu Bao

Author_Institution

Nat. Key Lab. of Sci. & Technol. on Holistic Control, BeiHang Univ., Beijing, China

fYear

2013

Firstpage

426

Lastpage

431

Abstract

Combined with the decentralized method, a leader-following consensus protocol is studied with time-varying communication and self delays for multi-UAV formation control systems. By using Lyapunov and the linear matrix inequality methods, it can be proven that all the nodes can track the reference values asymptotically and the maximal allowable upper bounds of delays can be obtained. At last, simulation results of four UAVs formation are given to demonstrate the effectiveness and application value of the proposed method.

Keywords

Lyapunov methods; autonomous aerial vehicles; decentralised control; delays; linear matrix inequalities; mobile robots; multi-robot systems; position control; Lyapunov methods; decentralized formation control; decentralized method; leader-following consensus protocol; linear matrix inequality methods; maximal allowable upper bounds; multiUAV formation control systems; self delays; time-varying communication delays; unmanned aerial vehicles; Centralized control; Decentralized control; Delay effects; Delays; Integrated circuits; Lead; Protocols; Decentralized; Formation; LMI; Leader-following consensus; UAV;

fLanguage

English

Publisher

ieee

Conference_Titel

Chinese Automation Congress (CAC), 2013

Conference_Location

Changsha

Print_ISBN

978-1-4799-0332-0

Type

conf

DOI

10.1109/CAC.2013.6775772

Filename

6775772