Title :
Decentralized formation control of multi-UAV systems under wind disturbances
Author :
Zhang, Jie ; Meng, Fanlin ; Zhou, Yan ; Lu, Geng ; Zhong, Yisheng
Author_Institution :
Dept. of Automation, TNList, Tsinghua University, Beijing 100084
Abstract :
Formation control problems of multi-UAV (unmanned aerial vehicle) systems under wind disturbances are investigated. A single UAV is modeled as a second order integrator. The definition of formation is introduced. A novel formation control protocol with integral controller is presented, and its validity is proven based on output regulation technique. Experimental results are presented to demonstrate that the multi-UAV system can achieve time-varying formations under wind disturbances.
Keywords :
Algorithm design and analysis; Conferences; Eigenvalues and eigenfunctions; Protocols; Topology; Trajectory; Disturbances; Formation control; Multi-UAV system; Output regulation;
Conference_Titel :
Control Conference (CCC), 2015 34th Chinese
Conference_Location :
Hangzhou, China
DOI :
10.1109/ChiCC.2015.7260811
