شماره ركورد كنفرانس :
4849
عنوان مقاله :
Formation Control for Unmanned Aerial Vehicles With Markovian Switching Network Topologies
پديدآورندگان :
Sayedana Ali a.saiiedana@ec.iut.ac.ir Department of Electrical and Computer Engineering, Isfahan University of Technology , Najafi Majdeddin majd_najafi@cc.iut.ac.ir Research Institute for Avionics, Isfahan University of Technology , Sheikholeslam Farid sheikh@cc.iut.ac.ir Department of Electrical and Computer Engineering, Isfahan University of Technology
كليدواژه :
Formation control , consensus , unmanned aerial vehicle , switching topologies , Markov process
عنوان كنفرانس :
چهارمين كنفرانس ملي اويونيك ايران
چكيده فارسي :
This paper considers time-varying formation control of unmanned aerial vehicle swarm systems with Markovian switching topologies . The formation problem is transformed to the consensus problem, then for achieving to this goal , the consensus protocol is presented. By using Lyapunov functional approach and algebraic Ricatti equation, the proper control is designed. In designing control gain , switching communication topologies are considered and control goals are obtained by a common control protocol. Switching topologies are generated by a time-homogeneous Markov process and union of topologies has important role in control gain. Finally, numerical simulation is presented to show theoretical results.
