Title :
Time-varying formation control for unmanned aerial vehicles with switching interaction topologies
Author :
Yan Zhou ; Xiwang Dong ; Geng Lu ; Yisheng Zhong
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
Abstract :
Time-varying formation control problems for unmanned aerial vehicle (UAV) swarm systems with switching interaction topologies are studied using a consensus based approach. Necessary and sufficient conditions for UAV swarm systems with switching interaction topologies to achieve predefined time-varying formations are proposed. An approach to design the formation protocol is given. A quadrotor formation platform including four quadrotors is introduced. Theoretical results are validated by outdoor time-varying formation experiments.
Keywords :
aircraft control; autonomous aerial vehicles; helicopters; multi-robot systems; position control; time-varying systems; UAV swarm systems; consensus based approach; formation protocol; necessary conditions; quadrotor formation platform; sufficient conditions; switching interaction topologies; time-varying formation control; unmanned aerial vehicles; Eigenvalues and eigenfunctions; Protocols; Switches; Time-varying systems; Topology; Vectors; Time-varying formation; swarm system; switching interaction topology; unmanned aerial vehicle;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2014 International Conference on
Conference_Location :
Orlando, FL
DOI :
10.1109/ICUAS.2014.6842376
