Paper Info
Title
Event-Based Time Varying Formation Control for Multiple Quadrotor UAVs with Markovian Switching Topologies.
Abstract
Time varying formation control problem for a group of quadrotor unmanned aerial vehicles (UAVs) under Markovian switching topologies is investigated through a modified dynamic event-triggered control protocol. The formation shape is specified by a time varying vector, which prescribes the relative positions and bearings among the whole agents. Instead of the general stochastic topology, the graph is governed by a set of Markov chains to the edges, which can recover the traditional Markovian switching topologies in line with the practical communication network. The stability proof for the state space origin of the overall closed-loop system is derived from the singular perturbation method and Lyapunov stability theory. An event-triggered formation control protocol in terms of a dynamically varying threshold parameter is delicately carried out, while acquiring satisfactory resource efficiency, and Zeno behavior of triggering time sequences is excluded. Finally, simulations on six quadrotor UAVs are given to verify the effectiveness of the theoretical results.
Year
DOI
Venue
2018
10.1155/2018/8124861
COMPLEXITY
Field
DocType
Volume
Graph,Telecommunications network,Control theory,Markov chain,Lyapunov stability,Network topology,Markovian switching,Singular perturbation,State space,Mathematics
Journal
2018
ISSN
Citations 
PageRank 
1076-2787
3
0.44
References 
Authors
14
3
Name
Order
Citations
PageRank
Zhen Zhou13012.87
hongbin wang2119.05
Zhongquan Hu330.78