Fast converging of multiple-quadrotors formation using weighted-neighbor-based control
文献类型：期刊论文
| 作者 | Zhicheng Hou; Isabelle Fantoni |
| 刊名 | Control Engineering Practice
 |
| 出版日期 | 2018 |
| 文献子类 | 期刊论文 |
| 英文摘要 | This paper addresses the problem of controlling a formation of quadrotors with interactive leader-follower con guration. In a group, some quadrotors play the role of leader and others are followers. The leaders and followers are interactive, which means that the leaders' motion also depend on the fol- lowers. Di erent from existing anonymous neighbor-based rules, we propose a weighted-neighbor based rule for each quadrotor in order to increase the convergence speed of the quadrotor's tracking error with respect to a desired trajectory. The weights are explicitly considered in the quadrotors' interact- ing topology. The issue of this method is that the interaction matrix can be non-symmetric, although the graph is undirected. Once neighbors of each quadrotor change, their weights are recalculated: the topology is therefore said to be switching. The stability analysis is given using common Lyapunov function. Simulation and experimental results show that the proposed for- mation control strategy can improve the convergence speed of the tracking error compared to the anonymous neighbor-based method and can also take into account switches of quadrotors roles (assignment of new leaders) leading thus to avoid disconnections during formations. |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/14795]  |
| 专题 | 深圳先进技术研究院_南沙所 |
| 推荐引用方式 GB/T 7714 | Zhicheng Hou,Isabelle Fantoni. Fast converging of multiple-quadrotors formation using weighted-neighbor-based control[J]. Control Engineering Practice,2018. |
| APA | Zhicheng Hou,&Isabelle Fantoni.(2018).Fast converging of multiple-quadrotors formation using weighted-neighbor-based control.Control Engineering Practice. |
| MLA | Zhicheng Hou,et al."Fast converging of multiple-quadrotors formation using weighted-neighbor-based control".Control Engineering Practice (2018). |
入库方式： OAI收割
来源：深圳先进技术研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。