Distributed formation control of multirotors with switching topologies

Zhanxiu Wang, Tengfei Liu, Zhong Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper studies the distributed formation control of multirotors with directed and switching topologies. This paper transforms the formation control problem into an output agreement problem, and develops a class of distributed controllers with successive loops to achieve output agreement. For practical implementations, velocities and accelerations of the controlled multirotors are restricted within desired ranges by introducing appropriate saturations to the loops. It is proved that each controlled multirotor admits an invariant set property, and the formation control objective can be achieved if a mild joint connectivity condition is satisfied by the switching topology. Physical experiments are employed to verify the effectiveness of the proposed design.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Information and Automation, ICIA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages167-172
Number of pages6
ISBN (Electronic)9781538680698
DOIs
StatePublished - Aug 2018
Event2018 IEEE International Conference on Information and Automation, ICIA 2018 - Wuyishan, Fujian, China
Duration: Aug 11 2018Aug 13 2018

Publication series

Name2018 IEEE International Conference on Information and Automation, ICIA 2018

Conference

Conference2018 IEEE International Conference on Information and Automation, ICIA 2018
CountryChina
CityWuyishan, Fujian
Period8/11/188/13/18

Keywords

  • Distributed control
  • Flexible topologies
  • Formation control
  • Multi-rotors
  • Physical constraints

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems
  • Biomedical Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Wang, Z., Liu, T., & Jiang, Z. P. (2018). Distributed formation control of multirotors with switching topologies. In 2018 IEEE International Conference on Information and Automation, ICIA 2018 (pp. 167-172). [8812331] (2018 IEEE International Conference on Information and Automation, ICIA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICInfA.2018.8812331