This paper aims to investigate formation control problem of multi-UAV system with nonuniform time-delays and jointly-connected topologies. No explicit leader exists in the formation team, and therefore a consensus-based distributed formation control protocol which requires only the local neighbor-to-neighbor information between UAVs is proposed for the system. The stability analysis of the proposed formation control protocol is also performed. The research suggests that when the time-delay, communication topology and control protocol satisfy the stability condition, the formation control protocol will guide the multi-UAV system asymptotically converge to the desired velocity and shape the expected formation team, respectively. Numerical simulations verify the effectiveness of the formation control system.


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    Titel :

    Distributed formation flight control of multi-UAV system with nonuniform time-delays and jointly connected topologies


    Beteiligte:
    Xue, Ruibin (Autor:in) / Song, Jianmei (Autor:in) / Cai, Gaohua (Autor:in)


    Erscheinungsdatum :

    2016-08-01


    Format / Umfang :

    11 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch