Dong Xiwang, Li Yangfan, Lu Chuang, Hu Guoqiang, Li Qingdong, Ren Zhang
IEEE Trans Neural Netw Learn Syst. 2019 Dec;30(12):3674-3685. doi: 10.1109/TNNLS.2018.2873063. Epub 2018 Oct 22.
Time-varying formation tracking (TVFT) control problems for a team of unmanned aerial vehicles (UAVs) with switching and directed interaction topologies are investigated, where the follower UAVs realize a given time-varying formation while tracking the leader UAV. A TVFT control protocol is firstly constructed utilizing local neighboring information, where the information of the leader UAV is only available to partial followers and the neighborhood can be switching. An algorithm composed of four steps is provided to design the TVFT protocol. It is proved that the UAV swarm system can realize the TVFT using the designed protocol if the dwell time for the switching directed topologies is larger than a fixed threshold and the TVFT feasibility condition is satisfied. Based on the ultrawideband positioning technology, a quadrotor UAV formation control platform with four quadrotor UAVs is given. The obtained theoretical results are applied to solve the target enclosing problems of the UAV swarm systems. A flying experiment for three follower quadrotor UAVs to enclose a leader quadrotor UAV is carried out to verify the effectiveness of the presented results.
研究了具有切换和有向交互拓扑结构的无人机团队的时变编队跟踪（TVFT）控制问题，其中跟随无人机在跟踪领航无人机的同时实现给定的时变编队。首先利用局部邻域信息构建了一种TVFT控制协议，其中领航无人机的信息仅对部分跟随者可用，并且邻域可以切换。提供了一种由四个步骤组成的算法来设计TVFT协议。证明了如果切换有向拓扑的驻留时间大于一个固定阈值且满足TVFT可行性条件，则无人机群系统可以使用所设计的协议实现TVFT。基于超宽带定位技术，给出了一个由四架四旋翼无人机组成的四旋翼无人机编队控制平台。将得到的理论结果应用于解决无人机群系统的目标包围问题。进行了三架跟随四旋翼无人机包围一架领航四旋翼无人机的飞行实验，以验证所提结果的有效性。
