Quadrotor Formation Control Method Based on Graph and Consistency Theory

DOI

10.2991/icsnce-18.2018.7How to use a DOI?

Keywords

Formation Control; Graph Theory; Consistency Theory; Second-order Integrator; Pilot-follow Method

Abstract

This paper introduces graph and group system consistency theory and puts forward a quadrotor formation control method. The quadrotor is described as a second-order integrator dynamic system, and the relative position deviation of different quadrotors is used to describe formation. According to the communication topology relationship between quadrotors, the formation is modeled by graph theory. The fusion of the pilot-follow and graph theory method is analyzed, and a second-order coherence algorithm with a pilot is presented. With this algorithm, the quadrotors can complete behaviors just as formation rally and formation mobility etc. Finally the paper verifies the availability of the proposed method through simulation tests.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yang Sen
AU  - Xi Leiping
PY  - 2018/04
DA  - 2018/04
TI  - Quadrotor Formation Control Method Based on Graph and Consistency Theory
BT  - Proceedings of the 2018 Second International Conference of Sensor Network and Computer Engineering (ICSNCE 2018)
PB  - Atlantis Press
SP  - 27
EP  - 34
SN  - 2352-538X
UR  - https://doi.org/10.2991/icsnce-18.2018.7
DO  - 10.2991/icsnce-18.2018.7
ID  - Sen2018/04
ER  -