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Finite-time Prescribed Performance Time-Varying Formation Control for Second-Order Multi-Agent Systems With Non-Strict Feedback Based on a Neural Network Observer 被引量:1
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作者 Chi Ma Dianbiao Dong 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第4期1039-1050,共12页
This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eli... This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the system.In addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader agent.To address this problem,a neural network state observer based on the leader state information is designed.Then,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite time.Finally,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm. 展开更多
关键词 Finite-time control multi-agent systems neural network prescribed performance control time-varying formation control
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Leader trajectory planning method considering constraints of formation controller
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作者 YAO Dongdong WANG Xiaofang +1 位作者 LIN Hai WANG Zhuping 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2023年第5期1294-1308,共15页
To ensure safe flight of multiple fixed-wing unmanned aerial vehicles(UAVs)formation,considering trajectory planning and formation control together,a leader trajectory planning method based on the sparse A*algorithm i... To ensure safe flight of multiple fixed-wing unmanned aerial vehicles(UAVs)formation,considering trajectory planning and formation control together,a leader trajectory planning method based on the sparse A*algorithm is introduced.Firstly,a formation controller based on prescribed performance theory is designed to control the transient and steady formation configuration,as well as the formation forming time,which not only can form the designated formation configuration but also can guarantee collision avoidance and terrain avoidance theoretically.Next,considering the constraints caused by formation controller on trajectory planning such as the safe distance,turn angle and step length,as well as the constraint of formation shape,a leader trajectory planning method based on sparse A^(*)algorithm is proposed.Simulation results show that the UAV formation can arrive at the destination safely with a short trajectory no matter keeping the formation or encountering formation transformation. 展开更多
关键词 trajectory planning formation control prescribed performance controller multiple constraints formation shape formation transformation
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Cyclic-Pursuit-Based Circular Formation Control of Mobile Agents with Limited Communication Ranges and Communication Delays
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作者 Boyin Zheng Cheng Song Lu Liu 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第9期1860-1870,共11页
This article addresses the circular formation control problem of a multi-agent system moving on a circle in the presence of limited communication ranges and communication delays.To minimize the number of communication... This article addresses the circular formation control problem of a multi-agent system moving on a circle in the presence of limited communication ranges and communication delays.To minimize the number of communication links,a novel distributed controller based on a cyclic pursuit strategy is developed in which each agent needs only its leading neighbour’s information.In contrast to existing works,we propose a set of new potential functions to deal with heterogeneous communication ranges and communication delays simultaneously.A new framework based on the admissible upper bound of the formation error is established so that both connectivity maintenance and order preservation can be achieved at the same time.It is shown that the multi-agent system can be driven to the desired circular formation as time goes to infinity under the proposed controller.Finally,the effectiveness of the proposed method is illustrated by some simulation examples. 展开更多
关键词 Circular formation control communication delays cyclic pursuit heterogeneous communication ranges
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Dynamic event-triggered formation control of second-order nonholonomic systems 被引量:2
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作者 WANG Xiaoyu SUN Sijia +1 位作者 XIAO Feng YU Mei 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2023年第2期501-514,共14页
In this paper,the formation control problem of secondorder nonholonomic mobile robot systems is investigated in a dynamic event-triggered scheme.Event-triggered control protocols combined with persistent excitation(PE... In this paper,the formation control problem of secondorder nonholonomic mobile robot systems is investigated in a dynamic event-triggered scheme.Event-triggered control protocols combined with persistent excitation(PE)conditions are presented.In event-detecting processes,an inactive time is introduced after each sampling instant,which can ensure a positive minimum sampling interval.To increase the flexibility of the event-triggered scheme,internal dynamic variables are included in event-triggering conditions.Moreover,the dynamic event-triggered scheme plays an important role in increasing the lengths of time intervals between any two consecutive events.In addition,event-triggered control protocols without forward and angular velocities are also presented based on approximate-differentiation(low-pass)filters.The asymptotic convergence results are given based on a nested Matrosov theorem and artificial sampling methods. 展开更多
关键词 nonholonomic system dynamic event-triggered control consensus-based formation
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Nonlinear tight formation control of multiple UAVs based on model predictive control
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作者 Ruiping Zheng Yongxi Lyu 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2023年第7期69-75,共7页
A tight formation of unmanned aerial vehicles(UAVs) has many advantages, such as fuel saving and deceiving enemy radar during battlefield entry. As a result, research on UAVs in close formation has received much atten... A tight formation of unmanned aerial vehicles(UAVs) has many advantages, such as fuel saving and deceiving enemy radar during battlefield entry. As a result, research on UAVs in close formation has received much attention, and the controller design for formation holding has become a popular research topic in the control field. However, there are many unknown disturbances in tight formation, and the tail aircraft is disturbed by the wake. This paper establishes a mathematical model of wake vortices for tail aircraft that considers uncertainty and strong interference. Two UAVs are simulated by Computational Fluid Dynamics software, followed by the design of a semiphysical simulation model predictive control(MPC) scheme that suppresses uncertainty and interference sufficiently to enable the tail aircraft to accurately track the lead aircraft and maintain a stable, tight formation. The tight formation controller is verified by numerical simulation and semiphysical simulation. The results show that the designed controller has an excellent control effect in the case of disturbance caused by the wake vortex. 展开更多
关键词 Unmanned aerial vehicles Tight formation Wake vortex model Model predictive control
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Circular Formation Control with Collision Avoidance Based on Probabilistic Position
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作者 Hamida Litimein Zhen-You Huang Muhammad Shamrooz Aslam 《Intelligent Automation & Soft Computing》 SCIE 2023年第7期321-341,共21页
In this paper,we study the circular formation problem for the second-order multi-agent systems in a plane,in which the agents maintain a circular formation based on a probabilistic position.A distributed hybrid contro... In this paper,we study the circular formation problem for the second-order multi-agent systems in a plane,in which the agents maintain a circular formation based on a probabilistic position.A distributed hybrid control protocol based on a probabilistic position is designed to achieve circular formation stabilization and consensus.In the current framework,the mobile agents follow the following rules:1)the agent must follow a circular trajectory;2)all the agents in the same circular trajectory must have the same direction.The formation control objective includes two parts:1)drive all the agents to the circular formation;2)avoid a collision.Based on Lyapunov methods,convergence and stability of the proposed circular formation protocol are provided.Due to limitations in collision avoidance,we extend the results to LaSalle’s invariance principle.Some theoretical examples and numerical simulations show the effectiveness of the proposed scheme. 展开更多
关键词 Circular formation cooperative control multi-agent systems collision avoidance
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Leader-following consensus protocols for formation control of multi-agent network 被引量:10
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作者 Xiaoyuan Luo Nani Han Xinping Guan 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2011年第6期991-997,共7页
Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the proto... Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the protocol without considering the communication time-delay is presented,and by using Lyapunov stability theory,the sufficient condition of stability for this multi-agent system is presented.Further,considering the communication time-delay,the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated.The main contribution of the proposed protocols is that,as well as the velocity consensus is considered,the formation control is concerned for multi-agent systems described as the second-order equations.Finally,numerical examples are presented to illustrate the effectiveness of the proposed protocols. 展开更多
关键词 CONSENSUS formation control leader-following com-munication time-delay multi-agent systems.
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A Novel Multi-agent Formation Control Law With Collision Avoidance 被引量:8
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作者 Arindam Mondal Laxmidhar Behera +1 位作者 Soumya Ranjan Sahoo Anupam Shukla 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2017年第3期558-568,共11页
In this paper a stable formation control law that simultaneously ensures collision avoidance has been proposed.It is assumed that the communication graph is undirected and connected.The proposed formation control law ... In this paper a stable formation control law that simultaneously ensures collision avoidance has been proposed.It is assumed that the communication graph is undirected and connected.The proposed formation control law is a combination of the consensus term and the collision avoidance term(CAT).The first order consensus term is derived for the proposed model,while ensuring the Lyapunov stability.The consensus term creates and maintains the desired formation shape,while the CAT avoids the collision.During the collision avoidance,the potential function based CAT makes the agents repel from each other.This unrestricted repelling magnitude cannot ensure the graph connectivity at the time of collision avoidance.Hence we have proposed a formation control law,which ensures this connectivity even during the collision avoidance.This is achieved by the proposed novel adaptive potential function.The potential function adapts itself,with the online tuning of the critical variable associated with it.The tuning has been done based on the lower bound of the critical variable,which is derived from the proposed connectivity property.The efficacy of the proposed scheme has been validated using simulations done based on formations of six and thirty-two agents respectively. 展开更多
关键词 CONSENSUS collision avoidance formation control graph theory STABILITY
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Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances 被引量:8
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作者 曹建福 凌志浩 +1 位作者 袁宜峰 高冲 《Chinese Physics B》 SCIE EI CAS CSCD 2014年第7期337-342,共6页
Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus... Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms (formation control term, velocity matching term, and obstacle avoidance term) is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control. 展开更多
关键词 multi-agent system formation control obstacle avoidance consensus theory
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Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer 被引量:29
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作者 Zhenyu Gao Ge Guo 《IEEE/CAA Journal of Automatica Sinica》 EI CSCD 2020年第2期539-545,共7页
In this paper,we investigate formation tracking control of autonomous underwater vehicles(AUVs)with model parameter uncertainties and external disturbances.The external disturbances due to the wind,waves,and ocean cur... In this paper,we investigate formation tracking control of autonomous underwater vehicles(AUVs)with model parameter uncertainties and external disturbances.The external disturbances due to the wind,waves,and ocean currents are combined with the model parameter uncertainties as a compound disturbance.Then a disturbance observer(DO)is introduced to estimate the compound disturbance,which can be achieved within a finite time independent of the initial estimation error.Based on a DO,a novel fixed-time sliding control scheme is developed,by which the follower vehicle can track the leader vehicle with all the states globally stabilized within a given settling time.The effectiveness and performance of the method are demonstrated by numerical simulations. 展开更多
关键词 Autonomous underwater vehicles(AUVs) disturbance observer(DO) sliding mode control formation control
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Formation Control for Water-Jet USV Based on Bio-Inspired Method 被引量:5
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作者 FU Ming-yu WANG Duan-song WANG Cheng-long 《China Ocean Engineering》 SCIE EI CSCD 2018年第1期117-122,共6页
The formation control problem for underactuated unmanned surface vehicles(USVs) is addressed by a distributed strategy based on virtual leader strategy. The control system takes account of disturbance induced by exter... The formation control problem for underactuated unmanned surface vehicles(USVs) is addressed by a distributed strategy based on virtual leader strategy. The control system takes account of disturbance induced by external environment. With the coordinate transformation, the advantage of the proposed scheme is that the control point can be any point of the ship instead of the center of gravity. By introducing bio-inspired model, the formation control problem is addressed with backstepping method. This avoids complicated computation, simplifies the control law,and smoothes the input signals. The system uniform ultimate boundness is proven by Lyapunov stability theory with Young inequality. Simulation results are presented to verify the effectiveness and robust of the proposed controller. 展开更多
关键词 water-jet USV bio-inspired model BACKSTEPPING formation control
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Consensus tracking protocol and formation control of multi-agent systems with switching topology 被引量:13
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作者 年晓红 苏赛军 潘欢 《Journal of Central South University》 SCIE EI CAS 2011年第4期1178-1183,共6页
Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of... Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of networks, which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state, new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Particularly, by contrast with spanning tree, an improved condition of switching interaction topology is presented. And then, convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve the fbrmation control. By introducing formation structure set, each agent can gain its individual desired trajectory. Finally, several simulations are worked out to illustrate the effectiveness of theoretical results. The test results show that the states of agents can converge to a desired constant or time-varying reference state. In addition, by selecting appropriate structure set, agents can maintain the expected formation under random switching interaction topologies. 展开更多
关键词 multi-agent system consensus protocols formation control switching topology
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Leader-following formation control of multi-agent networks based on distributed observers 被引量:4
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作者 罗小元 韩娜妮 关新平 《Chinese Physics B》 SCIE EI CAS CSCD 2010年第10期7-15,共9页
To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation f... To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation from any initial states, while the velocity converges to that of the virtual leader whose velocity cannot be measured by agents in real time. The two cases of switching topologies without communication delay and fixed topology with time-varying communication delay are both considered for multi-agent networks. By using the Lyapunov stability theory, the issue of stability is analysed for multi-agent systems with switching topologies. Then, by considering the time-varying communication delay, the sufficient condition is proposed for the multi-agent systems with fixed topology. Finally, two numerical examples are given to illustrate the effectiveness of the proposed leader-following formation control protocols. 展开更多
关键词 formation control distributed observer multi-agent system graph theory
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A Scalable Adaptive Approach to Multi-Vehicle Formation Control with Obstacle Avoidance 被引量:9
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作者 Xiaohua Ge Qing-Long Han +1 位作者 Jun Wang Xian-Ming Zhang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2022年第6期990-1004,共15页
This paper deals with the problem of distributed formation tracking control and obstacle avoidance of multivehicle systems(MVSs)in complex obstacle-laden environments.The MVS under consideration consists of a leader v... This paper deals with the problem of distributed formation tracking control and obstacle avoidance of multivehicle systems(MVSs)in complex obstacle-laden environments.The MVS under consideration consists of a leader vehicle with an unknown control input and a group of follower vehicles,connected via a directed interaction topology,subject to simultaneous unknown heterogeneous nonlinearities and external disturbances.The central aim is to achieve effective and collisionfree formation tracking control for the nonlinear and uncertain MVS with obstacles encountered in formation maneuvering,while not demanding global information of the interaction topology.Toward this goal,a radial basis function neural network is used to model the unknown nonlinearity of vehicle dynamics in each vehicle and repulsive potentials are employed for obstacle avoidance.Furthermore,a scalable distributed adaptive formation tracking control protocol with a built-in obstacle avoidance mechanism is developed.It is proved that,with the proposed protocol,the resulting formation tracking errors are uniformly ultimately bounded and obstacle collision avoidance is guaranteed.Comprehensive simulation results are elaborated to substantiate the effectiveness and the promising collision avoidance performance of the proposed scalable adaptive formation control approach. 展开更多
关键词 Adaptive control collision avoidance distributed formation control multi-vehicle systems neural networks obstacle avoidance repulsive potential
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The Formation Control of Multi-agent Systems on a Circle 被引量:4
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作者 Qiang Wang Yuzhen Wang Huaxiang Zhang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第1期148-154,共7页
This paper investigates the formation control of a class of multi-agent systems moving on a circle, whose topology is a cyclic graph, and presents several new results for the following two cases: Case I, the agents wi... This paper investigates the formation control of a class of multi-agent systems moving on a circle, whose topology is a cyclic graph, and presents several new results for the following two cases: Case I, the agents with single-integrator kinematics,and Case II, the agents with double-integrator kinematics. Firstly,for Case I, two control protocols are proposed under which the multiagent systems keep a uniformly-spaced formation. Secondly,we study Case II, and a control protocol is designed for this case, then the stability of the formation is proved. Finally, three simulations are studied by using our presented results. The study of illustrative examples with simulations shows that our results as well as designed control protocols work very well in studying the formation control of this class of multi-agent systems. 展开更多
关键词 Circle cyclic graph formation control multiagent systems uniformly spaced
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Dynamic formation control for autonomous underwater vehicles 被引量:6
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作者 燕雪峰 古锋 +2 位作者 宋琛 胡晓琳 潘毅 《Journal of Central South University》 SCIE EI CAS 2014年第1期113-123,共11页
Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which... Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle. 展开更多
关键词 formation control path plan keep formation dynamic strategy
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Potential-based obstacle avoidance in formation control 被引量:4
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作者 Jia WANG Xiaobei WU Zhiliang XU 《控制理论与应用(英文版)》 EI 2008年第3期311-316,共6页
Based on the double integrator mathematic model, a new kind of potential function is presented in this paper by referring to the concepts of the electric field; then a new formation control method is proposed, in whic... Based on the double integrator mathematic model, a new kind of potential function is presented in this paper by referring to the concepts of the electric field; then a new formation control method is proposed, in which the potential functions are used between agent-agent and between agent-obstacle, while state feedback control is applied for the agent and its goal. This strategy makes the whole potential field simpler and helps avoid some local minima. The stability of this combination of potential functions and state feedback control is proven. Some simulations are presented to show the rationality of this control method. 展开更多
关键词 Electric field Potential function formation control Obstacle avoidance
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Spatial-Temporal Distribution, Geological Characteristics and Ore-Formation Controlling Factors of Major Types of Rare Metal Mineral Deposits in China 被引量:10
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作者 JIANG Shaoyong SU Huimin +3 位作者 XIONG Yiqu LIU Tao ZHU Kangyu ZHANG Lu 《Acta Geologica Sinica(English Edition)》 SCIE CAS CSCD 2020年第6期1757-1773,共17页
Rare metals including Lithium(Li),Beryllium(Be),Rubidium(Rb),Cesium(Cs),Zirconium(Zr),Hafnium(Hf),Niobium(Nb),Tantalum(Ta),Tungsten(W)and Tin(Sn)are important critical mineral resources.In China,rare metal mineral dep... Rare metals including Lithium(Li),Beryllium(Be),Rubidium(Rb),Cesium(Cs),Zirconium(Zr),Hafnium(Hf),Niobium(Nb),Tantalum(Ta),Tungsten(W)and Tin(Sn)are important critical mineral resources.In China,rare metal mineral deposits are spatially distributed mainly in the Altay and Southern Great Xingán Range regions in the Central Asian orogenic belt;in the Middle Qilian,South Qinling and East Qinling mountains regions in the Qilian-Qinling-Dabie orogenic belt;in the Western Sichuan and Bailongshan-Dahongliutan regions in the Kunlun-Songpan-Garze orogenic belt,and in the Northeastern Jiangxi,Northwestern Jiangxi,and Southern Hunan regions in South China.Major ore-forming epochs include Indosinian(mostly 200-240 Ma,in particular in western China)and the Yanshanian(mostly 120-160 Ma,in particular in South China).In addition,Bayan Obo,Inner Mongolia,northeastern China,with a complex formation history,hosts the largest REE and Nb deposits in China.There are six major rare metal mineral deposit types in China:Highly fractionated granite;Pegmatite;Alkaline granite;Carbonatite and alkaline rock;Volcanic;and Hydrothermal types.Two further types,namely the Leptynite type and Breccia pipe type,have recently been discovered in China,and are represented by the Yushishan Nb-Ta-(Zr-Hf-REE)and the Weilasituo Li-Rb-Sn-W-Zn-Pb deposits.Several most important controlling factors for rare metal mineral deposits are discussed,including geochemical behaviors and sources of the rare metals,highly evolved magmatic fractionation,and structural controls such as the metamorphic core complex setting,with a revised conceptual model for the latter. 展开更多
关键词 critical metals GEOCHEMISTRY rare metals distribution metal ores formation control factors China
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On the finite horizon Nash equilibrium solution in the differential game approach to formation control 被引量:3
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作者 JOND Hossein Barghi NABIYEV Vasif 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2019年第6期1233-1242,共10页
The solvability of the coupled Riccati differential equations appearing in the differential game approach to the formation control problem is vital to the finite horizon Nash equilibrium solution.These equations(if so... The solvability of the coupled Riccati differential equations appearing in the differential game approach to the formation control problem is vital to the finite horizon Nash equilibrium solution.These equations(if solvable)can be solved numerically by using the terminal value and the backward iteration.To investigate the solvability and solution of these equations the formation control problem as the differential game is replaced by a discrete-time dynamic game.The main contributions of this paper are as follows.First,the existence of Nash equilibrium controls for the discretetime formation control problem is shown.Second,a backward iteration approximate solution to the coupled Riccati differential equations in the continuous-time differential game is developed.An illustrative example is given to justify the models and solution. 展开更多
关键词 formation control differential game dynamic game Nash equilibrium coupled Riccati equations.
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Dynamic affine formation control of networked under-actuated quad-rotor UAVs with three-dimensional patterns 被引量:3
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作者 XU Yang ZHENG Weiming +1 位作者 LUO Delin DUAN Haibin 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2022年第6期1269-1285,共17页
This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity a... This paper focuses on the solution to the dynamic affine formation control problem for multiple networked underactuated quad-rotor unmanned aerial vehicles(UAVs)to achieve a configuration that preserves collinearity and ratios of distances for a target configuration.In particular,it is investigated that the quad-rotor UAVs are steered to track a reference linear velocity while maintaining a desired three-dimensional target formation.Firstly,by integrating the properties of the affine transformation and the stress matrix,the design of the target formation is convenient and applicable for various three-dimensional geometric patterns.Secondly,a distributed control method is proposed under a hierarchical framework.By introducing an intermediary control input for each quad-rotor UAV in the position loop,the necessary thrust input and the desired attitude are extracted.In the attitude loop,the desired attitude represented by the unit quaternion is tracked by the designed torque input.Both conditions of linear velocity unavailability and mutual collision avoidance are also tackled.In terms of Lyapunov theory,it is prooved that the overall closed-loop error system is asymptotically stable.Finally,two illustrative examples are simulated to validate the effectiveness of the proposed theoretical results. 展开更多
关键词 formation control quad-rotor unmanned aerial vehicle(UAV) hierarchical control
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