Time-varying formation control problems for unmanned aerial vehicle (UAV) swarm systems with switching interaction topologies are studied using a consensus based approach. Necessary and sufficient conditions for UAV swarm systems with switching interaction topologies to achieve predefined time-varying formations are proposed. An approach to design the formation protocol is given. A quadrotor formation platform including four quadrotors is introduced. Theoretical results are validated by outdoor time-varying formation experiments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Time-varying formation control for unmanned aerial vehicles with switching interaction topologies


    Contributors:
    Zhou, Yan (author) / Dong, Xiwang (author) / Lu, Geng (author) / Zhong, Yisheng (author)


    Publication date :

    2014-05-01


    Size :

    1710109 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Formation Control for Unmanned Aerial Vehicles with Directed and Switching Topologies

    Yahui Qi / Shaolei Zhou / Yuhang Kang et al. | DOAJ | 2016

    Free access


    NONLINEAR GUIDANCE AND CONSENSUS FOR UNMANNED VEHICLES WITH TIME VARYING CONNECTION TOPOLOGIES

    Ahmed, M. / Subbarao, K. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2011



    Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games

    Barreiro Gómez, Julian / Mas, Ignacio / Ocampo-Martínez, Carlos et al. | BASE | 2016

    Free access