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JRM Vol.28 No.3 pp. 343-350
doi: 10.20965/jrm.2016.p0343
(2016)

Paper:

Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach

Shouhei Mori and Toru Namerikawa

Keio University
3-14-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8522, Japan

Received:
August 20, 2015
Accepted:
February 3, 2016
Published:
June 20, 2016
Keywords:
UAV, multi-agent, formation, LMI, network
Abstract

Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach

Formation control for multi-UAV system

The formation control algorithm we propose for a multi-UAV uses LMI conditions. Starting with a linearized model of UAVs such as a quadrotor, we introduce a formation control algorithm based on a consensus algorithm, a leader-follower structure, graph theory and the Lyapunov stability theorem for a liner system. We propose the control algorithm using the Lyapunov theorem and LMI conditions for intermittent communication. We demonstrate the proposed control algorithm’s stability even when network links are disconnected. Numerical simulation and experimental validation show the proposed control’s effectiveness.

Cite this article as:
S. Mori and T. Namerikawa, “Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach,” J. Robot. Mechatron., Vol.28, No.3, pp. 343-350, 2016.
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Last updated on Nov. 16, 2018