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Consensus Based Formation Control of Multiple Small Rotary-Wing UAVs

[+] Author Affiliations
Yaojin Xu

Southeast University, Nanjing, China; Utah State University, Logan, UT

Long Di, YangQuan Chen

Utah State University, Logan, UT

Paper No. DETC2011-47844, pp. 909-916; 8 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME


Small unmanned aerial vehicles (UAVs) can provide facilities in various applications. Compared with single UAV system, small UAVs based cooperative UAV system can bring advantages such as higher efficiency and safety. Therefore, it is necessary to design a robust multi-agent cooperative flight controller to coordinate a group of small UAVs for stable formation flights. This paper investigates the problem of consensus-based formation control for a multi-UAV system. Firstly, We choose a simplified model with nonholonomic constraints for UAV dynamics. Secondly, using the algebraic theory and backstepping technique, we design consensus protocols for multi-UAV systems under the strongly connected topology. Then based on that, we propose a multi-UAVfromation control strategy. Finally, we extend our results to the directed topology case which is still effective by simulation.

Copyright © 2011 by ASME



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