@inproceedings{664133e560044fc0ba327374ba27fc2d,
title = "Distributed Optimal Cooperative Formation Control Method for Multi-UAVs Systems",
abstract = "Considering the rotation of formation, the distributed cooperative formation control problem for multi-UAVs is investigated. The linearized path following error dynamics and the double-integrator formation dynamics are established, respectively. To decrease the formation error, the rotation acceleration compensation scheme is introduced. By utilizing the LQR technique, a path following algorithm is given for the leader. Furthermore, to maintain a given formation, an optimal consensus control law is presented for the followers. The dynamic adjustment strategy of the leader and communication topologies is given to increase the robustness of the proposed distributed formation control algorithm. Subsequently, theoretical analysis reveals that the proposed method is able to guarantee the leader follows a given path accurately as well as the formation maintain. The numerical simulation is presented to demonstrate the effectiveness and robustness of proposed method.",
keywords = "Consensus, Distributed Cooperative Formation Control, Multi-UAVs, Optimal Control, Path Following",
author = "Junzhi Li and Jingliang Sun and Teng Long and Yangjie Wang and Guangtong Xu",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 33rd Chinese Control and Decision Conference, CCDC 2021 ; Conference date: 22-05-2021 Through 24-05-2021",
year = "2021",
doi = "10.1109/CCDC52312.2021.9602462",
language = "English",
series = "Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "6931--6936",
booktitle = "Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021",
address = "United States",
}