Abstract
In traditional leader-follower approach, there is no formation feedback from the followers to the leader. If the leader moves too fast, due to the control saturation, the followers will not be able to track the desired position to keep formation. In order to overcome the disadvantage of the leader-follower approach, based on the idea of formation feedback, a leader controller with formation feedback from the followers is designed to guarantee both formation maintenance and formation speed. In general flight, the angular acceleration of the leader can’t be obtained by the follower. Based on the sliding mode control theory, the follower controller without the angular acceleration is designed to overcome the problem of information absence. Finally, a simulation of four agents flight in the three-dimension space is given to prove its effectiveness.
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Zhang, L., Fang, Y., Gao, X. (2013). Formation Flight of Multi-agent Based on Formation Feedback Control. In: Yang, J., Fang, F., Sun, C. (eds) Intelligent Science and Intelligent Data Engineering. IScIDE 2012. Lecture Notes in Computer Science, vol 7751. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36669-7_33
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DOI: https://doi.org/10.1007/978-3-642-36669-7_33
Publisher Name: Springer, Berlin, Heidelberg
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