CLC number: TP391
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2017-06-20
Cited: 0
Clicked: 8112
Mao-de Yan, Xu Zhu, Xun-xun Zhang, Yao-hong Qu. Consensus-based three-dimensional multi-UAV formation control strategy with high precision[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(7): 968-977.
@article{title="Consensus-based three-dimensional multi-UAV formation control strategy with high precision",
author="Mao-de Yan, Xu Zhu, Xun-xun Zhang, Yao-hong Qu",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="18",
number="7",
pages="968-977",
year="2017",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.1600004"
}
%0 Journal Article
%T Consensus-based three-dimensional multi-UAV formation control strategy with high precision
%A Mao-de Yan
%A Xu Zhu
%A Xun-xun Zhang
%A Yao-hong Qu
%J Frontiers of Information Technology & Electronic Engineering
%V 18
%N 7
%P 968-977
%@ 2095-9184
%D 2017
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1600004
TY - JOUR
T1 - Consensus-based three-dimensional multi-UAV formation control strategy with high precision
A1 - Mao-de Yan
A1 - Xu Zhu
A1 - Xun-xun Zhang
A1 - Yao-hong Qu
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 18
IS - 7
SP - 968
EP - 977
%@ 2095-9184
Y1 - 2017
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.1600004
Abstract: We propose a formation control strategy for multiple unmanned aerial vehicles (multi-UAV) based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration, managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model, the cooperative guidance algorithm, and the cooperative control algorithm, the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm, providing the desired acceleration, pitch rate, and heading rate. Longitudinal and lateral motions are jointly considered, and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed, and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.
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