DocumentCode
1788486
Title
Stability and performance of networked control of quadrocopters formation flight
Author
Tomashevich, Stanislav ; Andrievsky, Boris
Author_Institution
ITMO Univ., St. Petersburg, Russia
fYear
2014
fDate
6-8 Oct. 2014
Firstpage
242
Lastpage
247
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2014 6th International Congress on
Conference_Location
St. Petersburg
Type
conf
DOI
10.1109/ICUMT.2014.7002109
Filename
7002109
Link To Document