Multi-Unmanned Helicopter Formation Control on Relative Dynamics
文献类型：会议论文
| 作者 | Wang Z(王争) ; He YQ(何玉庆); Han JD(韩建达)
|
| 出版日期 | 2009 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | August 9-12, 2009 |
| 会议地点 | Changchum, China |
| 关键词 | Unmanned Helicopter Formation Control Relative Dynamics Approximate Linearization H infinity Control |
| 页码 | 4381-4386 |
| 中文摘要 | Multiple Unmanned Helicopters (UH) formation control is a difficult problem due to the highly nonlinear model and extensively existing uncertainties. In this paper, basing on the concept of relative dynamics and Leader-Follower formation strategy, a new formation control algorithm is given to partially solve this problem. First, the formation control problem is transformed into tracking problems of multiple Leader-Follower partners, and the relative dynamics model is derived by combining a fully dynamics model of follower UH system and a simplified model of leader UH system. Second, with the approximate feedback linearization method, a nonlinear robust tracking controller is designed by the H infinity control technology. Finally, simulations of the new proposed method with two UH systems are conducted, and the results are compared with the normal Leader-Follower formation control algorithm to show the improvement. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, IEEE Robot & Automat Soc, Changsha Univ Scie & Technol, Kagawa Univ, Natl Nat Sci Fdn China, Chinese Assoc Automat, Robot Soc Japan, Japan Soc Mech Engn, Japan Soc Precis Engn, Soc Instrument & Control Engineers, Harbin Engn Univ, Univ Elect Commun, Univ Elect Sci & Technol China, Beijing Univ Technol, Jilin Univ, Kagoshima Univ, Harbin Inst Technol, Assoc Young Sci &Technol |
| 会议录 | 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-2692-8 |
| WOS记录号 | WOS:000280158102132 |
| 源URL | [http://ir.sia.cn/handle/173321/8798]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang Z,He YQ,Han JD. Multi-Unmanned Helicopter Formation Control on Relative Dynamics[C]. 见:IEEE International Conference on Mechatronics and Automation. Changchum, China. August 9-12, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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