Abstract
This paper deals with the formation control problem of multiple unmanned aerial vehicles (UAVs). The UAV models are considered highly nonlinear and only translational motion is considered. Zeroing dynamics was first adopted to tackle the position and velocity consensus and then extended to the application of formation control using a constant offset vector. The feasibility of the proposed algorithm was analyzed and simulation results of four UAVs' formation flying were shown to validate the effectiveneΒ of the proposed formation control law.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of 2017 2nd International Conference on Communication and Information Systems, ICCIS 2017 |
| Publisher | Association for Computing Machinery |
| Pages | 419-425 |
| Number of pages | 7 |
| ISBN (Electronic) | 9781450353489 |
| DOIs | |
| Publication status | Published - 7 Nov 2017 |
| Event | 2nd International Conference on Communication and Information Systems, ICCIS 2017 - Wuhan, China Duration: 7 Nov 2017 → 9 Nov 2017 |
Publication series
| Name | ACM International Conference Proceeding Series |
|---|
Conference
| Conference | 2nd International Conference on Communication and Information Systems, ICCIS 2017 |
|---|---|
| Country/Territory | China |
| City | Wuhan |
| Period | 7/11/17 → 9/11/17 |
Keywords
- Consensus algorithm
- Formation control
- UAV
- Zeroing dynamics method
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Zhang, R., Wang, J., Liu, Y., Li, C., & Shan, J. (2017). Formation control of multi-uav systems using zeroing dynamics method. In Proceedings of 2017 2nd International Conference on Communication and Information Systems, ICCIS 2017 (pp. 419-425). (ACM International Conference Proceeding Series). Association for Computing Machinery. https://doi.org/10.1145/3158233.3159329