Large-Scale Unmanned Aerial Vehicle Formation Maintenance Algorithm Based on Virtual Structure

The large-scale formation maintenance control of unmanned aerial vehicle based on consensus algorithm and virtual structure was researched. Firstly we develop consensus strategies to guarantee the state formation of the virtual frame in each formation member which may inconsistent. Then, a formation control model based on virtual structure method is adopted to analyze the time-varying trajectory tracking error with the desired position, and a distributed control law based on consensus algorithm is presented to maintain the desire formation structure. Finally simulation results are provided to demonstrate the effectiveness of the proposed control.

[1]  Wang Xiang-k,et al.  Survey of developments on multi-agent formation control related problems , 2013 .

[2]  K.A. Morgansen,et al.  Formation Tracking Control using Virtual Structures and Deconfliction , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[3]  Niu Yi-fen.  Operation Concept and Key Techniques of Unmanned Aerial Vehicle Swarms , 2013 .

[4]  Kar-Han Tan,et al.  High Precision Formation Control of Mobile Robots Using Virtual Structures , 1997, Auton. Robots.

[5]  Xiaoming Hu,et al.  A control Lyapunov function approach to multiagent coordination , 2002, IEEE Trans. Robotics Autom..

[6]  Chang Boon Low,et al.  A dynamic virtual structure formation control for fixed-wing UAVs , 2011, 2011 9th IEEE International Conference on Control and Automation (ICCA).

[7]  Petter Ögren,et al.  A control Lyapunov function approach to multi-agent coordination , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[8]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.