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Quadrotor Formation Control Method Based on Graph and Consistency Theory

Yang Sen

Yang Sen

  • Department of UAV Engineering, Ordance Engineering CollegeShijiazhuang, China
  • School of Automation Science and Electrical Engineering, Beihang UniversityBeijing, China
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Sen, Yang
 e 
Xi Leiping

Xi Leiping

Department of UAV Engineering Ordance Engineering CollegeShijiazhuang, China
Cerca questo autore su
Sciendo|Google Scholar
Leiping, Xi
  
07 mag 2018
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Pubblicato online: 07 mag 2018
Pagine: 54 - 61
DOI: https://doi.org/10.21307/ijanmc-2018-032
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© 2018 Yang Sen et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Figure 1.

The definition of quadrotor’s position coordinate system
The definition of quadrotor’s position coordinate system

Figure 2.

Structure of the formation control system
Structure of the formation control system

Figure 3.

Communication topology graph
Communication topology graph

Figure 4.

The position relationship among formation members
The position relationship among formation members

Figure 5.

Quadrotor’s communication topology in the simulation experiments
Quadrotor’s communication topology in the simulation experiments

Figure 6.

Simulation curve of the generation of the quadrotors formation
Simulation curve of the generation of the quadrotors formation

Figure 7.

Simulation curve of quadrotor formation maneuver
Simulation curve of quadrotor formation maneuver

Figure 8.

Curve of each quadrotor’s position and velocity change in X-direction
Curve of each quadrotor’s position and velocity change in X-direction

Figure 9.

Curve of each quadrotor’s positon and velocity change in Z-direction
Curve of each quadrotor’s positon and velocity change in Z-direction
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