A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles

Weiheng Liu; Xin Zheng; Yang Luo

doi:10.1109/ICUS50048.2020.9274945

A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles

Weiheng Liu, Xin Zheng, Yang Luo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper proposes a decentralized control approach to formation maneuver. The dynamic model of multiple unmanned aerial vehicles is established, and the position and velocity are regarded as coordination variables of formation. Through the second-order integral dynamics feedback linearization, the consistency coordination strategy is coupled with the dynamics input. The formation error and position error functions of multiple unmanned aerial vehicles are established, and two contradictions of formation maneuver are balanced by error parameters. Simulation results demonstrate the effectiveness and strategy of the proposed approach.

Original language	English
Title of host publication	Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	685-689
Number of pages	5
ISBN (Electronic)	9781728180250
DOIs	https://doi.org/10.1109/ICUS50048.2020.9274945
Publication status	Published - 27 Nov 2020
Event	3rd International Conference on Unmanned Systems, ICUS 2020 - Harbin, China Duration: 27 Nov 2020 → 28 Nov 2020

Publication series

Name	Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020

Conference

Conference	3rd International Conference on Unmanned Systems, ICUS 2020
Country/Territory	China
City	Harbin
Period	27/11/20 → 28/11/20

Keywords

Coordination control
Distributed control approach
Dynamic model
Formation maneuver
Unmanned aerial vehicle

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10.1109/ICUS50048.2020.9274945

Cite this

Liu, W., Zheng, X., & Luo, Y. (2020). A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles. In Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020 (pp. 685-689). Article 9274945 (Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS50048.2020.9274945

Liu, Weiheng ; Zheng, Xin ; Luo, Yang. / A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles. Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 685-689 (Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020).

@inproceedings{1fa86d7067b5431a895bac0ed904cff7,

title = "A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles",

abstract = "This paper proposes a decentralized control approach to formation maneuver. The dynamic model of multiple unmanned aerial vehicles is established, and the position and velocity are regarded as coordination variables of formation. Through the second-order integral dynamics feedback linearization, the consistency coordination strategy is coupled with the dynamics input. The formation error and position error functions of multiple unmanned aerial vehicles are established, and two contradictions of formation maneuver are balanced by error parameters. Simulation results demonstrate the effectiveness and strategy of the proposed approach.",

keywords = "Coordination control, Distributed control approach, Dynamic model, Formation maneuver, Unmanned aerial vehicle",

author = "Weiheng Liu and Xin Zheng and Yang Luo",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 3rd International Conference on Unmanned Systems, ICUS 2020 ; Conference date: 27-11-2020 Through 28-11-2020",

year = "2020",

month = nov,

day = "27",

doi = "10.1109/ICUS50048.2020.9274945",

language = "English",

series = "Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "685--689",

booktitle = "Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020",

address = "United States",

}

Liu, W, Zheng, X & Luo, Y 2020, A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles. in Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020., 9274945, Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020, Institute of Electrical and Electronics Engineers Inc., pp. 685-689, 3rd International Conference on Unmanned Systems, ICUS 2020, Harbin, China, 27/11/20. https://doi.org/10.1109/ICUS50048.2020.9274945

A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles. / Liu, Weiheng; Zheng, Xin; Luo, Yang.
Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 685-689 9274945 (Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles

AU - Liu, Weiheng

AU - Zheng, Xin

AU - Luo, Yang

PY - 2020/11/27

Y1 - 2020/11/27

N2 - This paper proposes a decentralized control approach to formation maneuver. The dynamic model of multiple unmanned aerial vehicles is established, and the position and velocity are regarded as coordination variables of formation. Through the second-order integral dynamics feedback linearization, the consistency coordination strategy is coupled with the dynamics input. The formation error and position error functions of multiple unmanned aerial vehicles are established, and two contradictions of formation maneuver are balanced by error parameters. Simulation results demonstrate the effectiveness and strategy of the proposed approach.

AB - This paper proposes a decentralized control approach to formation maneuver. The dynamic model of multiple unmanned aerial vehicles is established, and the position and velocity are regarded as coordination variables of formation. Through the second-order integral dynamics feedback linearization, the consistency coordination strategy is coupled with the dynamics input. The formation error and position error functions of multiple unmanned aerial vehicles are established, and two contradictions of formation maneuver are balanced by error parameters. Simulation results demonstrate the effectiveness and strategy of the proposed approach.

KW - Coordination control

KW - Distributed control approach

KW - Dynamic model

KW - Formation maneuver

KW - Unmanned aerial vehicle

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U2 - 10.1109/ICUS50048.2020.9274945

DO - 10.1109/ICUS50048.2020.9274945

M3 - Conference contribution

AN - SCOPUS:85098984753

T3 - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020

SP - 685

EP - 689

BT - Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd International Conference on Unmanned Systems, ICUS 2020

Y2 - 27 November 2020 through 28 November 2020

ER -

Liu W, Zheng X, Luo Y. A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles. In Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 685-689. 9274945. (Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020). doi: 10.1109/ICUS50048.2020.9274945

A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles

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