Abstract
Decentralized consensus algorithm is suggested to maintain a specified formation configuration of multiple Unmanned Aerial Vehicles (UAVs). As no explicit leader exists in the team, only the local neighbor-to-neighbor information between vehicles is needed for the proposed control strategy. Position of the virtual leader and attitude of each UAV is the convergence state variable chosen for the algorithm. Communication limits and measurement errors are also considered to improve robustness. Besides, the motion synchronization technology is incorporated to achieve coordinated control of the UAVs, such that coupled relative position errors are used to calculate the trajectory modification. Finally, conclusion is conducted based on the testing results with simulation examples.
This work is supported by the National Natural Sciences Foundation (NNSF) of China under Grant 60974146.
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Qu, Y., Zhu, X., Zhang, Y.M. (2012). Cooperative Control for UAV Formation Flight Based on Decentralized Consensus Algorithm. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33509-9_35
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DOI: https://doi.org/10.1007/978-3-642-33509-9_35
Publisher Name: Springer, Berlin, Heidelberg
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