Interactive leader-follower consensus of multiple quadrotors based on composite nonlinear feedback control
文献类型：期刊论文
| 作者 | Zhicheng Hou; Isabelle Fantoni |
| 刊名 | IEEE Transactions on Control Systems Technology
 |
| 出版日期 | 2017 |
| 文献子类 | 期刊论文 |
| 英文摘要 | In this paper, an interactive leader-follower configuration of multiple quadrotors is considered, which means that the leaders can react with respect to the followers. In order to analyze the consensus of such a multiquadrotor system, an interaction matrix is proposed. The convergence condition of the trajectory tracking error is then proved to be related to the smallest eigenvalue of the interaction matrix. In order to achieve an aggressive formation, we develop a bounded composite nonlinear feedback-based formation controller with hyperbolic functions as a main contribution. Simulation and real-time experimental results show that the formation task is achieved with small overshoot and rapid response speed. Real-time experiments show four quadrotors following a circular reference trajectory with high linear velocity up to 2.7 m/s. |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11521]  |
| 专题 | 深圳先进技术研究院_南沙所 |
| 作者单位 | IEEE Transactions on Control Systems Technology |
| 推荐引用方式 GB/T 7714 | Zhicheng Hou,Isabelle Fantoni. Interactive leader-follower consensus of multiple quadrotors based on composite nonlinear feedback control[J]. IEEE Transactions on Control Systems Technology ,2017. |
| APA | Zhicheng Hou,&Isabelle Fantoni.(2017).Interactive leader-follower consensus of multiple quadrotors based on composite nonlinear feedback control. IEEE Transactions on Control Systems Technology . |
| MLA | Zhicheng Hou,et al."Interactive leader-follower consensus of multiple quadrotors based on composite nonlinear feedback control". IEEE Transactions on Control Systems Technology (2017). |
入库方式： OAI收割
来源：深圳先进技术研究院
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