Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach | Zendy

Shouhei Mori | Zendy; Toru Namerikawa | Zendy

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Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach

Author(s) -

Shouhei Mori,

Toru Namerikawa

Publication year - 2016

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2016.p0343

Subject(s) - control theory (sociology) , lyapunov function , lyapunov stability , computer science , disconnection , control (management) , graph theory , stability (learning theory) , graph , control system , mathematics , engineering , artificial intelligence , nonlinear system , theoretical computer science , physics , electrical engineering , combinatorics , machine learning , political science , law , quantum mechanics

[abstFig src='/00280003/10.jpg' width=""260"" text='Formation control for multi-UAV system' ]The formation control algorithm we propose for a multi-UAV uses LMI conditions. Starting with a linearized model of UAVs such as a quadrotor, we introduce a formation control algorithm based on a consensus algorithm, a leader-follower structure, graph theory and the Lyapunov stability theorem for a liner system. We propose the control algorithm using the Lyapunov theorem and LMI conditions for intermittent communication. We demonstrate the proposed control algorithm’s stability even when network links are disconnected. Numerical simulation and experimental validation show the proposed control’s effectiveness.

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