Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms
文献类型：期刊论文
| 作者 | Du, Haibo1; Zhu, Wenwu1; Wen, Guanghui2,3; Duan, Zhisheng4; Lu, Jinhu5
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| 刊名 | IEEE TRANSACTIONS ON CYBERNETICS
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| 出版日期 | 2019 |
| 卷号 | 49期号:1页码:342-353 |
| 关键词 | Finite-time control formation control linear quadratic regulator (LQR) multiple quadrotor aircraft nonsmooth consensus |
| ISSN号 | 2168-2267 |
| DOI | 10.1109/TCYB.2017.2777463 |
| 英文摘要 | The problem of distributed formation control for multiple quadrotor aircraft in the form of leader-follower structure is considered in this paper. Based on a nonsmooth back-stepping design, a novel consensus formation control algorithm is proposed and utilized. First, for the position control subsystem, based on the linear quadratic regulator optimal design method, a formation control law for multiple quadrotor aircraft is designed such that the positions of all the quadrotor aircraft converge to the desired formation pattern. The designed formation control law for position systems will generate the desired attitude for the attitude control systems. Second, for the attitude control subsystem described by unit quaternion, by employing the technique of finite-time control and switch control, a global bounded finite-time attitude tracking controller is designed such that the desired attitude can be tracked by the multiple quadrotor aircraft in finite time. Finally, numerical example is performed to demonstrate that all quadrotor aircraft converge to the desired formation pattern in the 3-D-space. |
| 资助项目 | National Key Research and Development Program of China[2016YFB0800401] ; National Natural Science Foundation of China[61673153] ; National Natural Science Foundation of China[61722303] ; National Natural Science Foundation of China[61673104] ; National Natural Science Foundation of China[61773216] ; Natural Science Foundation of Jiangsu Province of China[BK20170079] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61621003] ; Australian Research Council[DE180101268] ; Fundamental Research Funds for the Central Universities of China[JZ2017HGPA0163] ; Fundamental Research Funds for the Central Universities of China[2242016K41030] |
| WOS研究方向 | Automation & Control Systems ; Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000454242300027 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 源URL | [http://ir.amss.ac.cn/handle/2S8OKBNM/32129]  |
| 专题 | 系统科学研究所 |
| 通讯作者 | Wen, Guanghui |
| 作者单位 | 1.Hefei Univ Technol, Sch Elect Engn & Automat, Hefei 230009, Anhui, Peoples R China 2.Southeast Univ, Sch Math, Nanjing 210096, Jiangsu, Peoples R China 3.RMIT Univ, Sch Engn, Melbourne, Vic 3001, Australia 4.Peking Univ, Dept Mech & Engn Sci, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 5.Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Du, Haibo,Zhu, Wenwu,Wen, Guanghui,et al. Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms[J]. IEEE TRANSACTIONS ON CYBERNETICS,2019,49(1):342-353. |
| APA | Du, Haibo,Zhu, Wenwu,Wen, Guanghui,Duan, Zhisheng,&Lu, Jinhu.(2019).Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms.IEEE TRANSACTIONS ON CYBERNETICS,49(1),342-353. |
| MLA | Du, Haibo,et al."Distributed Formation Control of Multiple Quadrotor Aircraft Based on Nonsmooth Consensus Algorithms".IEEE TRANSACTIONS ON CYBERNETICS 49.1(2019):342-353. |
入库方式： OAI收割
来源：数学与系统科学研究院
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