Flocking Control of Flying Robots considering Model's Dynamics Processes
详细信息 查看官网全文
- 英文论文题名：Flocking Control of Flying Robots considering Model's Dynamics Processes
- 论文作者：Di Jian ; Ji Haibo ; Li Kun ; Yang Kaihong ; Yu Wang
- 英文论文作者：Di Jian ; Ji Haibo ; Li Kun ; Yang Kaihong ; Yu Wang ; Department of Automation ; University of Science and Technology of China
- 年：2017
- 作者机构：Department of Automation,University of Science and Technology of China;
- 英文论文关键词：Flocking ; Flying Robots ; Attitude Dynamics ; Synchronization
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP242
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：5
- 文件大小：595k
- 原文格式：D
- 会议级别：全国
摘要
This paper studies the flocking problem for flying robots in three-dimensional space. Each robot's attitude dynamics is considered. Motivated by consensus algorithms, we propose a distributed control law to achieve the flocking of flying robots.The convergence is proved by Lyapunov function and La Salle's invariance principle. And the simulation results are given to demonstrate the effectiveness of the proposed control law.
This paper studies the flocking problem for flying robots in three-dimensional space. Each robot's attitude dynamics is considered. Motivated by consensus algorithms, we propose a distributed control law to achieve the flocking of flying robots.The convergence is proved by Lyapunov function and La Salle's invariance principle. And the simulation results are given to demonstrate the effectiveness of the proposed control law.
This paper studies the flocking problem for flying robots in three-dimensional space. Each robot's attitude dynamics is considered. Motivated by consensus algorithms, we propose a distributed control law to achieve the flocking of flying robots.The convergence is proved by Lyapunov function and La Salle's invariance principle. And the simulation results are given to demonstrate the effectiveness of the proposed control law.
引文
[1]C.W.Reynolds,Flocks,herds and schools:A distributed behavioral model,ACM SIGGRAPH computer graphics,21(4):25-34,1987.
[2]F.Wang,T.T.Han,S.S.Ge,et al.Vision Based Flocking Control for Multi-agent Systems in 3-D Space,IFAC Proceedings Volumes,46(20):257-262,2013.
[3]W.Ren,Distributed cooperative attitude synchronization and tracking for multiple rigid bodies,IEEE Transactions on Control Systems Technology,18(2):383-392,2010.
[4]W.Ren,Distributed attitude consensus among multiple networked spacecraft,in 2006 American Control Conference,2006:6 pp.
[5]C.G.Mayhew,R.G Sanfelice,J.Sheng,et al,Quaternionbased hybrid feedback for robust global attitude synchronization,IEEE Transactions on Automatic Control,57(8):2122-2127,2012.
[6]T.Vicsek,A.Czirk,E.Ben-Jacob,et al,Novel type of phase transition in a system of self-driven particles,Physical review letters,75(6):1226,1995.
[7]R.Olfati-Saber,Flocking for multi-agent dynamic systems:Algorithms and theory,IEEE Transactions on automatic control,51(3):401-420,2006.
[8]Y.Cao,W.Ren,Distributed coordinated tracking via a variable structure approach-part ii:swarm tracking,in Proc.of the American Control Conference,2010:4750-4755.
[9]D.Lee,M.W.Spong,Stable flocking of multiple inertial agents on balanced graphs,in 2006 American Control Conference,2006:6 pp.
[10]W.Li W,M.W.Spong,Stability of general coupled inertial agents,IEEE Transactions on Automatic Control,55(6):1411-1416,2010.
[11]W.Ren,E.Atkins,Distributed multi-vehicle coordinated control via local information exchange,International Journal of Robust and Nonlinear Control,17(10-11):1002-1033,2007.
[12]H.Wang,Flocking of networked uncertain Euler CLagrange systems on directed graphs,Automatica,49(9):2774-2779,2013.
[13]B.A.Francis,M.Maggiore.Flocking and Rendezvous in Distributed Robotics,Springer,2016,chapter 4.
[14]R.Merris,Laplacian matrices of graphs:a survey,Linear algebra and its applications,197:143-176,1994.
[15]M.D.Hua,T.Hamel,P.Morin,et al,A control approach for thrust-propelled underactuated vehicles and its application to VTOL drones,IEEE Transactions on Automatic Control,54(8):1837-1853,2009.
[2]F.Wang,T.T.Han,S.S.Ge,et al.Vision Based Flocking Control for Multi-agent Systems in 3-D Space,IFAC Proceedings Volumes,46(20):257-262,2013.
[3]W.Ren,Distributed cooperative attitude synchronization and tracking for multiple rigid bodies,IEEE Transactions on Control Systems Technology,18(2):383-392,2010.
[4]W.Ren,Distributed attitude consensus among multiple networked spacecraft,in 2006 American Control Conference,2006:6 pp.
[5]C.G.Mayhew,R.G Sanfelice,J.Sheng,et al,Quaternionbased hybrid feedback for robust global attitude synchronization,IEEE Transactions on Automatic Control,57(8):2122-2127,2012.
[6]T.Vicsek,A.Czirk,E.Ben-Jacob,et al,Novel type of phase transition in a system of self-driven particles,Physical review letters,75(6):1226,1995.
[7]R.Olfati-Saber,Flocking for multi-agent dynamic systems:Algorithms and theory,IEEE Transactions on automatic control,51(3):401-420,2006.
[8]Y.Cao,W.Ren,Distributed coordinated tracking via a variable structure approach-part ii:swarm tracking,in Proc.of the American Control Conference,2010:4750-4755.
[9]D.Lee,M.W.Spong,Stable flocking of multiple inertial agents on balanced graphs,in 2006 American Control Conference,2006:6 pp.
[10]W.Li W,M.W.Spong,Stability of general coupled inertial agents,IEEE Transactions on Automatic Control,55(6):1411-1416,2010.
[11]W.Ren,E.Atkins,Distributed multi-vehicle coordinated control via local information exchange,International Journal of Robust and Nonlinear Control,17(10-11):1002-1033,2007.
[12]H.Wang,Flocking of networked uncertain Euler CLagrange systems on directed graphs,Automatica,49(9):2774-2779,2013.
[13]B.A.Francis,M.Maggiore.Flocking and Rendezvous in Distributed Robotics,Springer,2016,chapter 4.
[14]R.Merris,Laplacian matrices of graphs:a survey,Linear algebra and its applications,197:143-176,1994.
[15]M.D.Hua,T.Hamel,P.Morin,et al,A control approach for thrust-propelled underactuated vehicles and its application to VTOL drones,IEEE Transactions on Automatic Control,54(8):1837-1853,2009.