Quadrotor Formation Control Method Based on Graph and Consistency Theory

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International Journal of Advanced Network, Monitoring and Controls

Xi'an Technological University

Subject: Computer Science, Software Engineering

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eISSN: 2470-8038

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VOLUME 3 , ISSUE 2 (May 2018) > List of articles

Quadrotor Formation Control Method Based on Graph and Consistency Theory

Yang Sen * / Xi Leiping

Keywords : Formation Control, Graph Theory, Consistency Theory, Second-order Integrator, Pilot-follow Method

Citation Information : International Journal of Advanced Network, Monitoring and Controls. Volume 3, Issue 2, Pages 54-61, DOI: https://doi.org/10.21307/ijanmc-2018-032

License : (CC-BY-NC-ND-4.0)

Published Online: 07-May-2018

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FIGURES & TABLES

Figure 1.

The definition of quadrotor’s position coordinate system

Figure 2.

Structure of the formation control system

Figure 3.

Communication topology graph

Figure 4.

The position relationship among formation members

Figure 5.

Quadrotor’s communication topology in the simulation experiments

Figure 6.

Simulation curve of the generation of the quadrotors formation

Figure 7.

Simulation curve of quadrotor formation maneuver

Figure 8.

Curve of each quadrotor’s position and velocity change in X-direction

Figure 9.

Curve of each quadrotor’s positon and velocity change in Z-direction

REFERENCES

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  4. Matthew T, Nathan M, Vijay K. Trajectory Design and Control for Aggressive Formation Flight with Quadrotors [J]. Auton Robot, 2012, 33:143-156.
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  5. Xing G.S., Du C.Y., Zong Q., Chen H.Y., Sun H.X., Consensus-based distributed motion planning for autonomous formation of miniature quadrotor groups[J]. Control and Decision, 2014, 29(11): 2081-2084.
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  8. Li G.C., Wang L., Wang Z.L., Xu D.X., Trajectory Tracking Control of Quad-rotor UAV Based on Quaternion[J]. Journal of Applied Sciences. 2012, 30(4):415-422.

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