Leader-Following Consensus of Multiple Unmanned Aerial Vehicles with Input Constraints and Local Coordinate Frames

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationProceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers, Inc.
Pages1061-1066
Volume2016-September
ISBN (print)9781509020652
Publication statusPublished - Jul 2016

Publication series

NameIEEE ASME International Conference on Advanced Intelligent Mechatronics
PublisherIEEE
ISSN (Print)2159-6255

Conference

Title2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016)
PlaceCanada
CityBanff
Period12 - 15 July 2016

Link(s)

DOI

DOI
Check@CityULib
Link to Scopus https://www.scopus.com/record/display.uri?eid=2-s2.0-84992390134&origin=recordpage
Permanent Link https://scholars.cityu.edu.hk/en/publications/publication(4823a172-a365-483a-9ae7-7244d5116c94).html

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.

Research Area(s)

  • NONHOLONOMIC MOBILE ROBOTS, TRAJECTORY TRACKING, MULTIAGENT SYSTEMS, AIR VEHICLES, AGENTS

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Publication fingerprints text

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Input Constraint Engineering
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Consensus Engineering
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Unmanned Aerial Veh... Engineering
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Local Coordinate Engineering
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constraints INIS
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coordinates INIS
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unmanned aerial veh... INIS
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Input Constraints Keyphrases
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UAV Keyphrases
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Leader-following Co... Keyphrases
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Citation Format(s)

[ RIS ] [ BibTeX ]
Leader-Following Consensus of Multiple Unmanned Aerial Vehicles with Input Constraints and Local Coordinate Frames. / Yu, Xiao; Liu, Lu; Feng, Gang.
Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics. Vol. 2016-September Institute of Electrical and Electronics Engineers, Inc., 2016. p. 1061-1066 7576910 (IEEE ASME International Conference on Advanced Intelligent Mechatronics).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review