Time-varying formation control for unmanned aerial vehicles with switching interaction topologies

Author

Yan Zhou ; Xiwang Dong ; Geng Lu ; Yisheng Zhong

Author_Institution

Dept. of Autom., Tsinghua Univ., Beijing, China

fYear

2014

fDate

27-30 May 2014

Firstpage

1203

Lastpage

1209

Abstract

Time-varying formation control problems for unmanned aerial vehicle (UAV) swarm systems with switching interaction topologies are studied using a consensus based approach. Necessary and sufficient conditions for UAV swarm systems with switching interaction topologies to achieve predefined time-varying formations are proposed. An approach to design the formation protocol is given. A quadrotor formation platform including four quadrotors is introduced. Theoretical results are validated by outdoor time-varying formation experiments.

Keywords

aircraft control; autonomous aerial vehicles; helicopters; multi-robot systems; position control; time-varying systems; UAV swarm systems; consensus based approach; formation protocol; necessary conditions; quadrotor formation platform; sufficient conditions; switching interaction topologies; time-varying formation control; unmanned aerial vehicles; Eigenvalues and eigenfunctions; Protocols; Switches; Time-varying systems; Topology; Vectors; Time-varying formation; swarm system; switching interaction topology; unmanned aerial vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Unmanned Aircraft Systems (ICUAS), 2014 International Conference on

Conference_Location

Orlando, FL

Type

conf

DOI

10.1109/ICUAS.2014.6842376

Filename

6842376