Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications

Backstepping Based Formation Control of Quadrotors with the State Transformation Technique

“…Consider the altitude system of the i-th follower in (8) controlled by the virtual and pseudo altitude control inputs of the i-th follower in (12) and (14), respectively. Then, there exist the design parameters k i,1 and k i,2 such that the actual altitude control input of the i-th follower in (15) asymptotically stabilizes the formation error system related to the altitude of the i-th follower in (11) and (13).…”

“…By operating multiple quadrotors, tasks that are impossible with a single quadrotor can be performed, and single quadrotor tasks can be performed faster and more efficiently. Therefore, there has been considerable attention on studies focusing on quadrotor formation control [1][2][3][4][5][6][7][8][9][10][11][12][13][14]. There are several quadrotor formation control methodologies including behavior based [1], leader-follower [2][3][4][5][6][7][8], virtual structures [9,10] and graph theory [11][12][13][14].…”

Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

“…Imitating the collective behaviors that occur in nature, the distributed control of multiagent systems (MAS), such as multiple autonomous underwater vehicles (AUVs) and unmanned aerial vehicles (UAVs) [1][2][3], has attracted a great deal of attention in control and robotic communities [4,5] and has been extensively explored with different settings, including consensus [6], formation control [7,8], flocking [9], distributed sensor networks [10], rendezvous [11], and source seeking [12,13], through coordinating multiple autonomous mobile agents.…”

Consensus-based impact-time-control guidance law for cooperative attack of multiple missiles

“…Moreover, multi-missile systems with new cooperative fighting manners can be progressed by following the steps of multi-agent systems. In recent years, there are a lot of papers about the coordination of a group of agents, due to a broad application of multi-agent systems (MAS) including consensus, swarming, flocking and formation (e. g. [2,4,16,17,19,20,21]), among which consensus is one of the important problem in the study of multi-agent systems ( [1,3,6,9,14]). Distributed controller has been widely developed in multi-agent systems.…”