.png){kind=icon}
返回
Multi-Agent Bifurcation Consensus-Based Multi-Layer UAVs Formation Keeping Control and Its Visual Simulation
.png){kind=icon}
PRE
AI
DOI：10.1109/TCSI.2023.3276870.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper focuses on the mult-layer unmanned aerial vehicles (UAVs) formation keeping control issue based on multi-agent bifurcation consensus. Taking the two-layer formation as an example, due to delays in receiving and responding to signals, the intra-layer and inter-layer control schemes under the dynamic properties need to be considered. Firstly, the UAV heading autopilot is designed to fully consider the control of the angle of attack and yaw angle, which is utilized to deal with the translational and angular motion of UAV. Based on the heading autopilot, the stability and Hopf bifurcation conditions of UAVs heading dynamic system are discussed to get real-time state information and generate control input. Secondly, the leader-following formation combined with the virtual control structure to obtain a virtual hierarchical control strategy, and then a bifurcation consensus criterion. The results shown that when UAVs heading control system achieves bifurcation consensus. The formation maintains the shape while showing interesting periodic oscillation motion behavior. Finally, a numerical example is presented to demonstrate the effectiveness of the presented control strategy. Particularly, visualization simulation using 3ds Max software makes the results more intuitive and flexible.
Keyword:
Multi-layer UAVs formation
hybrid controller
time-delay
bifurcation consensus
visual simulation
期刊
IF:
5.2
论文数:
9.8K
被引数:
2.2W
机构
引用论文
Consensus Tracking of Heterogeneous Discrete-Time Networked Multiagent Systems Based on the Networked Predictive Control Scheme基于网络预测控制的异构离散网络多智能体系统一致性跟踪
PREAI
分享收藏Efficient Nonlinear Model Predictive Control for Quadrotor Trajectory Tracking: Algorithms and Experiment用于四旋翼飞行器轨迹跟踪的高效非线性模型预测控制: 算法和实验
PREAI
分享收藏Model predictive cooperative localization control of multiple UAVs using potential function sensor constraints: A workflow to create sensor constraint based potential functions for the control of cooperative localization scenarios with mobile robots.png)
AUTONOMOUS ROBOTS
OAAI
AUTONOMOUS ROBOTSIF4.3
OAAI分享收藏
查看更多内容