Three-dimensional formation keeping of multi-UAV based on consensus

来源期刊:中南大学学报(英文版)2017年第6期

论文作者:朱旭 张逊逊 闫茂德 屈耀红

文章页码:1387 - 1395

Key words:multiple unmanned aerial vehicles; formation keeping; consensus; reference state; flight control

Abstract: Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanned aerial vehicles (multi-UAV) is proposed based on consensus, aiming at maintaining a specified geometric configuration. A formation control algorithm with guidance and corresponding flight controllers is given, managing position and attitude, respectively. In order to follow a three-dimensional predefined flight path, by introducing the tracking orders as reference states into the consensus, the formation control algorithm is designed, following the predefined flight path and maintaining geometric configuration simultaneously. The flight controllers are constructed by nonlinear dynamic inverse, including attitude design and velocity design. With the whole system composed of a nonlinear six-degree-of-freedom UAV model, the formation control algorithm and the flight controllers, the formation keeping strategy is closed loop and with full states. In simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the proposed strategy.

Cite this article as: ZHU Xu, ZHANG Xun-xun, YAN Mao-de, QU Yao-hong. Three-dimensional formation keeping of multi-UAV based on consensus [J]. Journal of Central South University, 2017, 24(6): 1387-1395. DOI: 10.1007/s11771-017-3543-4.

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