TY - GEN
T1 - A decentralized control approach to formation maneuvers in multiple unmanned aerial vehicles
AU - Liu, Weiheng
AU - Zheng, Xin
AU - Luo, Yang
N1 - Publisher Copyright:
© 2020 IEEE.
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
UR - https://www.scopus.com/pages/publications/85098984753
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 -