Distributed bearing-based formation control of unmanned aerial vehicle swarm via global orientation estimation |
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Authors: | Yuwei ZHANG Xingjian WANG Shaoping WANG Xinyu TIAN |
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Affiliation: | School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China;Science and Technology on Aircraft Control Laboratory,Beihang University,Beijing 100191,China;Ningbo Institute of Technology,Beihang University,Ningbo 315800,China |
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Abstract: | Most existing formation control approaches for Unmanned Aerial Vehicle(UAV)swarm assume that global position and global coordinate frame are directly available for each agent.To extend the application domain,this paper proposes a distributed bearing-based formation control scheme,without any reliance on global position or global coordinate frame.The interac-tions among UAVs are described by a directed topology with two-leader structure.To address the issue of unavailable global coordinate frame,we first present a distributed orientation estima-tion law for each UAV to determine its orientation under the coordinate frame of the first leader.Based on the orientation estimation,we then design a bearing-based formation control law to glob-ally asymptotically track target moving formations.Finally,simulation results are provided to val-idate the proposed method,which show that the translation,scale and orientation of the formation can be flexibly controlled via two leaders. |
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Keywords: | Bearing measurement Formation control Global orientation estima-tion Two-leader structure Unmanned aerial vehicles |
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