Paper Info
Title
Time-Varying Formation Tracking Control For Uav-Ugv Heterogeneous Swarm Systems With Switching Directed Topologies
Abstract
This paper studies time-varying formation tracking control problems for UAV-UGV heterogeneous swarm systems. The UAVs and UGVs need to achieve the desired time-varying formation and track the reference trajectory of a leader synchronously under switching directed topologies. Firstly, the cooperative control model for UAV-UGV heterogeneous swarm system is established by using algebraic graph theory. Then, the formation tracking control protocol based on a distributed observer is designed and the convergence is proved by using piecewise Lyapunov theory. Furthermore, the feasible conditions to achieve the time-varying formation tracking are analyzed, and the algorithm to select the control parameters is proposed. Finally, a numerical simulation example is provided to demonstrate the effectiveness of the proposed control approach.
Year
DOI
Venue
2020
10.1109/ICCA51439.2020.9264359
2020 IEEE 16TH INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA)
Keywords
DocType
ISSN
Formation tracking control, UAV-UGV heterogeneous swarm system, distributed observer, switching topologies
Conference
1948-3449
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Siquan Zhou100.34
Xiwang Dong257335.47
Qingdong Li310212.25
Zhang Ren415322.79