收藏本站
收藏 | 投稿 | 手机打开
二维码
手机客户端打开本文

Consensus algorithm for multiple quadrotor systems under fixed and switching topologies

Yinqiu Wang  Qinghe Wu  Yao Wang  Di Yu  
【摘要】:The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors' positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system,the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially,the problem of choosing the parameters in the consensus algorithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algorithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the proposed algorithm.

知网文化
 快捷付款方式  订购知网充值卡  订购热线  帮助中心
  • 400-819-9993
  • 010-62982499
  • 010-62783978