Formation Control of Swarm Systems
- 902 Downloads
This chapter investigates time-varying formation control problems for high-order linear time-invariant (LTI) swarm systems and unmanned aerial vehicle (UAV) swarm systems. First, time-varying state formation control problems for high-order LTI swarm systems with time delays and time-varying output formation control problems for high-order LTI swarm systems are studied, respectively. Necessary and sufficient conditions for swarm systems to achieve time-varying state/output formation, necessary and sufficient conditions for state/output formation feasibilities, and explicit expressions of state/output formation reference functions are presented. Then approaches to specify the motion modes of state/output formation references, approaches to expand feasible state/output formation sets, and approaches to design the state/output formation protocols are proposed, respectively. Moreover, necessary and sufficient conditions for UAV swarm systems to achieve time-varying formations and approaches to design the protocol are proposed. Autonomous time-varying formation control experiments are performed using five quadrotor UAVs in outdoor environment to demonstrate the theoretical results.
KeywordsSwarm Systems Quadrotor UAV Time-varying Formation Control Problem Formulation Unmanned Aerial Vehicles (UAV)
- 3.Kopfstedt T, Mukai M, Fujita M, et al (2008) Control of formations of UAVs for surveillance and reconnaissance missions. In: Proceedings of the 17th IFAC World Congress, pp 6–11Google Scholar
- 6.Sivakumar A, Tan CKY (2010) UAV swarm coordination using cooperative control for establishing a wireless communications backbone. In: Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems, pp 1157–1164Google Scholar
- 35.XAircraft. http://www.xaircraft.comGoogle Scholar
- 38.Turpin M, Michael N, Kumar V (2012) Decentralized formation control with variable shapes for aerial robots. In: Proceedings of IEEE International Conference on Robotics and Automation, pp 23–30Google Scholar