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CLC number: TP391

On-line Access: 2017-07-31

Received: 2016-01-04

Revision Accepted: 2016-04-12

Crosschecked: 2017-06-20

Cited: 0

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Citations:  Bibtex RefMan EndNote GB/T7714


Xu Zhu


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Frontiers of Information Technology & Electronic Engineering  2017 Vol.18 No.7 P.968-977


Consensus-based three-dimensional multi-UAV formation control strategy with high precision

Author(s):  Mao-de Yan, Xu Zhu, Xun-xun Zhang, Yao-hong Qu

Affiliation(s):  School of Electronic and Control Engineering, Chang'an University, Xi'an 710064, China; more

Corresponding email(s):   mdyan@chd.edu.cn, zhuxu_1987@sina.com, zhangxunxun0427@163.com, qyh0809@nwpu.edu.cn

Key Words:  Multiple unmanned aerial vehicles, Consensus, Cooperative guidance, Cooperative control, Synchronization technology

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.

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A1 - Mao-de Yan
A1 - Xu Zhu
A1 - Xun-xun Zhang
A1 - Yao-hong Qu
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 18
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SP - 968
EP - 977
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.1600004

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.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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