Flocking control of a fleet of unmanned aerial vehicles

来源 :控制理论与技术(英文版) | 被引量 : 0次 | 上传用户:Pinger605
下载到本地 , 更方便阅读
声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架
论文部分内容阅读
Current applications using single unmanned vehicle have been gradually extended to multiple ones due to their increased efficiency in mission accomplishment,expanded coverage areas and ranges,as well as enhanced system reliability.This paper presents a flocking control method with application to a fleet of unmanned quadrotor helicopters (UQHs).Three critical characteristics of formation keeping,collision avoidance,and velocity matching have been taken into account in the algorithm development to make it capable of accomplishing the desired objectives (like forest/pipeline surveillance) by safely and efficiently operating a group of UQHs.To achieve these,three layered system design philosophy is considered in this study.The first layer is the flocking controller which is designed based on the kinematics of UQH.The modified Cucker and Smale model is used for guaranteeing the convergence of UQHs to flocking,while a repelling force between each two UQHs is also added for ensuring a specified safety distance.The second layer is the motion controller which is devised based on the kinetics of UQH by employing the augmented state-feedback control approach to greatly minimize the steady-state error.The last layer is the UQH system along with its actuators.Two primary contributions have been made in this work:first,different from most of the existing works conducted on agents with double integrator dynamics,a new flocking control algorithm has been designed and implemented on a group of UQHs with nonlinear dynamics.Furthermore,the constraint of fixed neighbouring distance in formation has been relaxed expecting to significantly reduce the complexity caused by the increase of agents number and provide more flexibility to the formation control.Extensive numerical simulations on a group of UQH nonlinear models have been carried out to verify the effectiveness of the proposed method.
其他文献
动量守恒定律指出,当物体系统受到的合外力为零时,物体系统的总动量保持不变.也就是说,对一个没有与外界发生运动传递的孤立系统,系统内不同物体之间相互作用的内力只能使动
提高低年级学生的英语水平尤为重要。在英语学习中打造一个良好的开端,能够让学生在接下来的英语学习中更顺利。因此,教师要掌握英语教学的基本技巧,在此基础上提升教学水平
期刊
请下载后查看,本文暂不支持在线获取查看简介。 Please download to view, this article does not support online access to view profile.
该文从挂篮荷载计算、施工流程、支座及临时固结施工、挂篮安装及试验、合拢段施工、模板制作安装、钢筋安装、混凝土的浇筑及养生、测量监控等方面人手,介绍了S226海滨大桥
经济的发展使我们的建筑越来越大型化、复杂化,人们对其舒适度的要求也越来越高,传统的中央空调不仅不能满足现有的需求,还会造成大量的资源浪费,但随着科技的进步PLC的出现
  河南某钼矿属特大型中低品位钼矿床,物质组成较复杂,矿物嵌布关系复杂,矿石难选。多年来,矿山以提高资源利用效率为目的,以技术创新为手段,不断改进生产工艺流程、采用先进选矿
期刊
公司制度是市场经济的产物,是推动市场经济发展的原动力。同股份公司相比,有限公司(也称有限责任公司)是一种规模相对较小、市场准入门槛较低、股东人数亦有上限的公司类型。它
全民素质逐渐提高,科普教育也逐渐突显出自身的重要性.其中,科普展览是科普教学开展的主要表现形式,并且被广泛应用.为此,文章以某市博览园综合馆项目作为研究对象,针对智能
所谓专家对第三人责任,是指因专家执业过错而导致第三人损害,其应当承担的民事责任。“第三人”意味着,专家与其之间并不存在合同关系。从比较法上来看,专家对第三人责任制度
学位
王志(460—513年),字次道,琅琊临沂(今山东临沂县)人。王僧虔子,官至金紫光禄大夫。王志书法雄奇险崛,笔势爽利挺拔。《梁书》、《南史》皆有传。《一日无申帖》又称《喉痛帖