Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms

doi:10.1109/TCYB.2017.2777463

CSpace > 系统科学研究所

	Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms
	Du, Haibo 1; Zhu, Wenwu 1; Wen, Guanghui 2,3; Duan, Zhisheng 4; Lu, Jinhu5
	2019
发表期刊	IEEE TRANSACTIONS ON CYBERNETICS
ISSN	2168-2267
卷号	49 期号:1 页码:342-353
摘要	The problem of distributed formation control for multiple quadrotor aircraft in the form of leader-follower structure is considered in this paper. Based on a nonsmooth back-stepping design, a novel consensus formation control algorithm is proposed and utilized. First, for the position control subsystem, based on the linear quadratic regulator optimal design method, a formation control law for multiple quadrotor aircraft is designed such that the positions of all the quadrotor aircraft converge to the desired formation pattern. The designed formation control law for position systems will generate the desired attitude for the attitude control systems. Second, for the attitude control subsystem described by unit quaternion, by employing the technique of finite-time control and switch control, a global bounded finite-time attitude tracking controller is designed such that the desired attitude can be tracked by the multiple quadrotor aircraft in finite time. Finally, numerical example is performed to demonstrate that all quadrotor aircraft converge to the desired formation pattern in the 3-D-space.
关键词	Finite-time control formation control linear quadratic regulator (LQR) multiple quadrotor aircraft nonsmooth consensus
DOI	10.1109/TCYB.2017.2777463
语种	英语
资助项目	National Key Research and Development Program of China[2016YFB0800401] ; National Natural Science Foundation of China[61673153] ; National Natural Science Foundation of China[61722303] ; National Natural Science Foundation of China[61673104] ; National Natural Science Foundation of China[61773216] ; Natural Science Foundation of Jiangsu Province of China[BK20170079] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61621003] ; Australian Research Council[DE180101268] ; Fundamental Research Funds for the Central Universities of China[JZ2017HGPA0163] ; Fundamental Research Funds for the Central Universities of China[2242016K41030]
WOS研究方向	Automation & Control Systems ; Computer Science
WOS类目	Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS记录号	WOS:000454242300027
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/32130
专题	系统科学研究所
通讯作者	Wen, Guanghui
作者单位	1.Hefei Univ Technol, Sch Elect Engn & Automat, Hefei 230009, Anhui, Peoples R China 2.Southeast Univ, Sch Math, Nanjing 210096, Jiangsu, Peoples R China 3.RMIT Univ, Sch Engn, Melbourne, Vic 3001, Australia 4.Peking Univ, Dept Mech & Engn Sci, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 5.Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Du, Haibo,Zhu, Wenwu,Wen, Guanghui,et al. Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms[J]. IEEE TRANSACTIONS ON CYBERNETICS,2019,49(1):342-353.
APA	Du, Haibo,Zhu, Wenwu,Wen, Guanghui,Duan, Zhisheng,&Lu, Jinhu.(2019).Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms.IEEE TRANSACTIONS ON CYBERNETICS,49(1),342-353.
MLA	Du, Haibo,et al."Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms".IEEE TRANSACTIONS ON CYBERNETICS 49.1(2019):342-353.