| Title: | OS3-1 A Distributed Optimal Formation Control for Multi-Agent System of UAVs |
|---|---|
| Publication: | ICAROB2022 |
| Volume: | 27 |
| Pages: | 803-807 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2022.OS3-1 |
| Author(s): | Jichao Zhao, Fengzhi Dai, Yunzhong Song |
| Publication Date: | January 20, 2022 |
| Keywords: | multi-agent system, UAV, optimal control, distributed formation control |
| Abstract: | In this paper, the distributed optimization problem for multi-agent system (MAS) formation control of unmanned aerial vehicles (UAVs) is suggested here. The situation that the internal states of a single UAV can be made fully available was aimed at, the internal optimal control law of a single UAV is designed using the optimal control theory. To cope with the obstacle that each agent in the system can only communicate with its neighbor agents, the distributed formation control law of the system is introduced based on the communication topology of the system, and further the stability of the system is analyzed in helps of graph theory. The validity of the suggested scheme is verified by both the numerical simulation and UAV platform. |
| PDF File: | https://alife-robotics.co.jp/members2022/icarob/data/html/data/OS/OS3/OS3-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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