典型文献
Dynamic affine formation control of networked under-actuated quad-rotor UAVs with three-dimensional patterns
文献摘要：
This paper focuses on the solution to the dynamic affine formation control problem for multiple networked under-actuated quad-rotor unmanned aerial vehicles (UAVs) to achieve a configuration that preserves collinearity and ratios of dis-tances 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 for-mation. Firstly, by integrating the properties of the affine trans-formation and the stress matrix, the design of the target forma-tion 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 atti-tude are extracted. In the attitude loop, the desired attitude rep-resented 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 Lya-punov theory, it is prooved that the overall closed-loop error sys-tem is asymptotically stable. Finally, two illustrative examples are simulated to validate the effectiveness of the proposed theoreti-cal results.
文献关键词：
中图分类号：
作者姓名：
XU Yang;ZHENG Weiming;LUO Delin;DUAN Haibin
作者机构：
School of Civil Aviation,Northwestern Polytechnical University,Xi'an 710072,China;Yangtze River Delta Research Institute,Northwestern Polytechnical University,Taicang 215400,China;School of Aerospace Engineering,Xiamen University,Xiamen 361102,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China
文献出处：
引用格式：
[1]XU Yang;ZHENG Weiming;LUO Delin;DUAN Haibin-.Dynamic affine formation control of networked under-actuated quad-rotor UAVs with three-dimensional patterns)[J].系统工程与电子技术（英文版）,2022(06):1269-1285
A类：
atti,prooved
B类：
Dynamic,affine,formation,control,networked,under,actuated,quad,rotor,UAVs,three,dimensional,patterns,This,paper,focuses,solution,dynamic,problem,multiple,unmanned,aerial,vehicles,achieve,configuration,that,preserves,collinearity,ratios,tances,target,In,particular,investigated,are,steered,reference,velocity,while,maintaining,desired,Firstly,by,integrating,properties,trans,stress,matrix,convenient,applicable,various,geometric,Secondly,distributed,method,proposed,hierarchical,framework,By,introducing,intermediary,input,each,position,loop,necessary,thrust,extracted,attitude,rep,resented,unit,quaternion,tracked,designed,torque,Both,conditions,unavailability,mutual,collision,avoidance,also,tackled,terms,Lya,punov,theory,overall,closed,error,sys,tem,asymptotically,stable,Finally,illustrative,examples,simulated,validate,effectiveness,theoreti,results
AB值：
0.560738
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