Event-Based Formation Control of Multiple Quadrotors on SO(3)
Joint Authors
Dong, Chaoyang
Ma, Mingyu
Wang, Qing
Ma, Siqian
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-05-13
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
This paper is concerned with the formation problem of multiple quadrotors, and an event-based control strategy is proposed.
The communication topology and relative positions of formation are first considered, and then the model of multiple quadrotors system is developed on the special orthogonal group SO(3).
By designing the trigger function, certain events are generated for each quadrotor.
Then, the formation controller is driven to update its parameters according to the events.
The attitude controller on SO(3) is designed for tracking of the command and stabilization.
By the proposed method continuous communication is not required between quadrotors, and it is proved that the quadrotors could achieve the desired formation.
Simulation illustrates that the proposed event-based formation control method is effective.
American Psychological Association (APA)
Dong, Chaoyang& Ma, Mingyu& Wang, Qing& Ma, Siqian. 2018. Event-Based Formation Control of Multiple Quadrotors on SO(3). Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1207615
Modern Language Association (MLA)
Dong, Chaoyang…[et al.]. Event-Based Formation Control of Multiple Quadrotors on SO(3). Mathematical Problems in Engineering No. 2018 (2018), pp.1-11.
https://search.emarefa.net/detail/BIM-1207615
American Medical Association (AMA)
Dong, Chaoyang& Ma, Mingyu& Wang, Qing& Ma, Siqian. Event-Based Formation Control of Multiple Quadrotors on SO(3). Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1207615
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1207615