Title :
A new fast consensus algorithm applied in rendezvous of multi-UAV
Author :
Xu Wei ; Duan Fengyang ; Zhang Qingjie ; Zhu Bing ; Sun Hongchang
Author_Institution :
Aviation Univ. of Air Force, Changchun, China
Abstract :
Consistent state of the system is the basis of reaching the target area at the same time in rendezvous of multi-UAV, and consensus algorithm is an effective method of multi-UAV system to achieve a consistent state. In order to shorten the convergence time of system state, on the base of the mathematical model of multi-UAV rendezvousing problem, the basic consensus algorithm and the consensus algorithm based on the past state difference have been improved. A new fast consensus algorithm was designed with a parameter, and theorems about efficiency and convergence of the new algorithm were mathematically proved. Simulation results verify the effectiveness and feasibility of the new algorithm.
Keywords :
autonomous aerial vehicles; convergence; mobile robots; multi-robot systems; position control; consistent state; fast consensus algorithm; mathematical model; multiUAV rendezvousing problem; multiUAV system; past state difference; system state convergence time; Algorithm design and analysis; Convergence; Decentralized control; Eigenvalues and eigenfunctions; Electronic mail; Heuristic algorithms; Mathematical model; consensus algorithm; convergence speed; multi-UAV system; rendezvous; state difference;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7161666
