Title :
Formation-containment control for unmanned aerial vehicle swarm system
Author :
Bocheng Yu ; Xiwang Dong ; Zongying Shi ; Yisheng Zhong
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
Abstract :
Formation-containment control problems for unmanned aerial vehicle (UAV) swarm systems with directed interaction topologies are addressed. UAVs in the swarm system are classified into leaders and followers, where leaders and followers are designed to achieve time-varying formation and containment respectively. Based on state transformation and state space decomposition, formation-containment problems of UAV swarm systems are converted into the asymptotic stability problems. Sufficient conditions for UAV swarm systems to achieve formation-containment are proposed, where the formation for leaders can be time-varying. Theoretical results are demonstrated by outdoor formation-containment experiments with five quadrotors.
Keywords :
asymptotic stability; autonomous aerial vehicles; control system synthesis; multi-robot systems; rotors (mechanical); state-space methods; time-varying systems; UAV swarm systems; asymptotic stability problems; directed interaction topology; formation containment control; leader-follower system; quadrotors; state space decomposition; state transformation; sufficient conditions; time-varying formation-containment; unmanned aerial vehicle swarm system; Eigenvalues and eigenfunctions; Graph theory; Laplace equations; Protocols; Topology; Unmanned aerial vehicles; Vectors; Formation-containment control; swarm system; unmanned aerial vehicle;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896853
