@inproceedings{4823a172a365483a9ae77244d5116c94,
title = "Leader-Following Consensus of Multiple Unmanned Aerial Vehicles with Input Constraints and Local Coordinate Frames",
abstract = "This paper addresses the problem of leader-following consensus of multiple unmanned aerial vehicles (UAVs) with velocity and heading rate constraints described by bounded velocity with positive-minimum value and saturated heading rate. Each UAV is assumed to have its local coordinate frame and the information exchange among UAVs is modeled by a directed graph. A distributed dynamic control law is proposed for each follower UAV by using the information via local sensing and communication from its neighbors. It is shown that with the proposed control law, all follower UAVs can converge to the leader's motion, while the velocity and heading rate constraints can always be satisfied. Finally, the effectiveness of the proposed control law is illustrated by simulation results of an example.",
keywords = "NONHOLONOMIC MOBILE ROBOTS, TRAJECTORY TRACKING, MULTIAGENT SYSTEMS, AIR VEHICLES, AGENTS",
author = "Xiao Yu and Lu Liu and Gang Feng",
year = "2016",
month = jul,
doi = "10.1109/AIM.2016.7576910",
language = "English",
isbn = "9781509020652",
volume = "2016-September",
series = "IEEE ASME International Conference on Advanced Intelligent Mechatronics",
publisher = "IEEE",
pages = "1061--1066",
booktitle = "Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics",
address = "United States",
note = "2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016) ; Conference date: 12-07-2016 Through 15-07-2016",
}