Title :
Decentralized formation control for multiple UAVs based on leader-following consensus with time-varying delays
Author :
Yan Ding ; Chen Wei ; Shuyu Bao
Author_Institution :
Nat. Key Lab. of Sci. & Technol. on Holistic Control, BeiHang Univ., Beijing, China
Abstract :
Combined with the decentralized method, a leader-following consensus protocol is studied with time-varying communication and self delays for multi-UAV formation control systems. By using Lyapunov and the linear matrix inequality methods, it can be proven that all the nodes can track the reference values asymptotically and the maximal allowable upper bounds of delays can be obtained. At last, simulation results of four UAVs formation are given to demonstrate the effectiveness and application value of the proposed method.
Keywords :
Lyapunov methods; autonomous aerial vehicles; decentralised control; delays; linear matrix inequalities; mobile robots; multi-robot systems; position control; Lyapunov methods; decentralized formation control; decentralized method; leader-following consensus protocol; linear matrix inequality methods; maximal allowable upper bounds; multiUAV formation control systems; self delays; time-varying communication delays; unmanned aerial vehicles; Centralized control; Decentralized control; Delay effects; Delays; Integrated circuits; Lead; Protocols; Decentralized; Formation; LMI; Leader-following consensus; UAV;
Conference_Titel :
Chinese Automation Congress (CAC), 2013
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-0332-0
DOI :
10.1109/CAC.2013.6775772
