Considering three-dimensional formation control for multiple unmanned aerial vehicles, this paper proposes a second-order consensus strategy by utilizing the position and velocity coordinate variables. To maintain the specified geometric configuration, a cooperative guidance algorithm and a cooperative control algorithm are proposed together to manage the position and attitude, respectively. The cooperative guidance law, which is designed as a second-order consensus algorithm, provides the desired pitch rate, heading rate and acceleration. In addition, a synchronization technology is put forward to reduce the influence of the measurement errors for the cooperative guidance law. The cooperative control law, regarding the output of the cooperative guidance law as its input, is designed by deducing the state-space expression of both the longitudinal and lateral motions. The formation stability is analyzed to give a sufficient and necessary condition. Finally, the simulations for the three-dimensional formation control demonstrate the feasibility and effectiveness of the second-order consensus strategy.
Three-dimensional multiple unmanned aerial vehicles formation control strategy based on second-order consensus
01.03.2018
11 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Dynamic consensus execution method operating on multiple unmanned aerial vehicles
Europäisches Patentamt | 2024
|Integrated Optimal Formation Control of Multiple Unmanned Aerial Vehicles
British Library Conference Proceedings | 2012
|