Time-varying formation control of UAV swarm systems with switching topologies

被引：0
|
作者：
Zhou S. [1 ]
Qi Y. [1 ]
Zhang L. [1 ]
Yan S. [1 ]
Kang Y. [1 ]
机构：
[1] Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2017年 / 38卷 / 04期
关键词：
Consensus; Formation control; Swarm system; Switching topology; Trajectory tracking; Unmanned aerial vehicle;
D O I：
10.7527/S1000-6893.2016.0219
中图分类号：
学科分类号：
摘要：
Trajectory tracking and time-varying formation control of unmanned aerial vehicle (UAV) swarm systems with switching interaction topologies are investigated. The UAV is modelled by a second-order integrator system. Based on the consensus method, protocols are proposed to transform the formation problem into a stability problem. The average dwell time of switching topologies is introduced, and an algorithm for the design of the gain matrix of the protocol is given by solving a linear matrix inequality (LMI). It is proven by constructing a piecewise continuous Lyapunov function that the trajectory tracking and time-varying formation can be achieved by the protocol proposed. Simulation of a swarm system consisting of four UAVs moving in the three dimensional space is conducted, and simulation results demonstrate that the trajectory tracking and time-varying formation for UAVs with switching topologies can be solved by the method proposed. © 2017, Press of Chinese Journal of Aeronautics. All right reserved.
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