Variable formation control of quadrotor formation based on consensus algorithm

被引：0
|
作者：
Liu, Hao [1 ]
Li, Rui [1 ]
Shi, Yingjing [1 ]
Song, Ziwen [1 ]
机构：
[1] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Peoples R China
来源：
2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年
基金：
中国国家自然科学基金;
关键词：
quadrolor; distributed formation; consensus control; artificial repulsion field;
D O I：
10.1109/CAC51589.2020.9327089
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a quadrotor variable formation control method based on consensus control algorithm is proposed. This paper completes the formation generation, transformation and following of UAVs. In the formation process, artificial repulsion field is designed to ensure the distance between each UAV is safe and internal collision will not occur. Simulation results verify the effectiveness and superiority of the formation control strategy proposed in this paper.
引用
收藏
页码：7288 / 7294
页数：7
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