Title :
Stability and performance of networked control of quadrocopters formation flight
Author :
Tomashevich, Stanislav ; Andrievsky, Boris
Author_Institution :
ITMO Univ., St. Petersburg, Russia
Abstract :
Stability conditions of the formation of linear SISO agents are described and applied to formation of 25 autonomous quadrocopters. The various information flow graphs are studied from the viewpoints of the formation stability and achievement of the consensus. A way for improving the system performance is proposed and demonstrated by the frequency response analysis and simulation.
Keywords :
aircraft control; autonomous aerial vehicles; flow graphs; frequency response; helicopters; linear systems; multi-robot systems; networked control systems; stability; autonomous quadrocopter formation flight; consensus achievement; formation stability; frequency response analysis; information flow graphs; linear SISO agent formation; networked control performance; networked control stability; simulation analysis; stability conditions; system performance improvement; Conferences; Control systems; Robots; Stability criteria; Transfer functions; Vehicles; formation control; information flow graph; quadrocopter; stability;
Conference_Titel :
Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on
Conference_Location :
St. Petersburg
DOI :
10.1109/ICUMT.2014.7002109
