期刊
AUTOMATICA
卷 47, 期 11, 页码 2383-2394出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2011.08.042
关键词
Formation control; VTOL aircraft; Unmanned Aerial Vehicles; Communication delays
The formation control problem of a team of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) with communication delays is addressed. Based on the extraction algorithm presented in Abdessameud and Tayebi (2010a), we propose a new design methodology that simplifies the design of formation control laws with delayed communication for this class of under-actuated systems. Three control schemes are presented that provide delay-dependent and delay-independent results with constant and time-varying communication delays. The stability of the overall closed loop system in each scheme is established using Lyapunov-Krasovskii functionals. The proposed design methodology achieves global results in terms of the position and removes the requirement of the linear-velocity measurements. Simulation results are provided to show the effectiveness of the proposed control schemes. (C) 2011 Elsevier Ltd. All rights reserved.
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