Abstract
We propose a formation control strategy for multiple unmanned aerial vehicles (multi-UAV) based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration, managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model, the cooperative guidance algorithm, and the cooperative control algorithm, the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm, providing the desired acceleration, pitch rate, and heading rate. Longitudinal and lateral motions are jointly considered, and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed, and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Aldo, S., Jaimes, B., Jamshidi, M., 2010. Consensus-based and network control of UAVs. Proc. 5th Int. Conf. on System of Systems Engineering, p.1–6. http://dx.doi.org/10.1109/SYSOSE.2010.5544106
Annamalai, A., Motwani, A., Sharma, S.K., et al., 2015. A robust navigation technique for integration in the guidance and control of an uninhabited surface vehicle. J. Navigat., 68(4): 750–768. http://dx.doi.org/10.1017/S0373463315000065
Bai, C., Duan, H., Li, C., et al., 2009. Dynamic multi-UAVs formation reconfiguration based on hybrid diversity-PSO and time optimal control. Proc. IEEE Intelligent Vehicles Symp., p.775–779. http://dx.doi.org/10.1109/IVS.2009.5164376
Bennet, D.J., McInnes, C.R., Suzuki, M., et al., 2011. Autonomous three-dimensional formation flight for a swarm of unmanned aerial vehicles. J. Guid. Contr. Dynam., 34(6): 1899–1908. http://dx.doi.org/10.2514/1.53931
Chen, X., Zhang, C., 2013. The method of multi unmanned aerial vehicle cooperative tracking in formation based on the theory of consensus. Proc. 5th Int. Conf. on Intelligent Human-Machine Systems and Cybernetics, p.148–151. http://dx.doi.org/10.1109/IHMSC.2013.182
Fukushima, H., Kon, K., Matsuno, F., 2013. Model predictive formation control using branch-and-bound compatible with collision avoidance problems. IEEE Trans. Robot., 29(5): 1308–1317. http://dx.doi.org/10.1109/TRO.2013.2262751
Hou, H., Wei, R.X., Liu, Y., et al., 2011. UAV control method studied based on high-order sliding mode control. Flight Dynam., 29(1): 38–41 (in Chinese). http://dx.doi.org/10.13645/j.cnki.f.d.2011.01.010
**g, Y., Shi, X.P., 2014. NDI formation controller design for UAV based on super twisting algorithm. J. Syst. Eng. Electron., 36(7): 1380–1385 (in Chinese). http://dx.doi.org/10.3969/j.issn.1001-506X.2014.07.24
Kim, S., Kim, Y., 2007. Three dimensional optimum controller for multiple UAV formation flight using behaviorbased decentralized approach. Proc. Int. Conf. on Control, Automation and Systems, p.1387–1392. http://dx.doi.org/10.1109/ICCAS.2007.4406555
Kumar, R., Kabamba, P., Hyland, D.C., 2005. Controller design using adaptive random search for close-coupled formation flight. J. Guid. Contr. Dynam., 28(6): 1323–1326. http://dx.doi.org/10.2514/1.11377
Kuriki, Y., Namerikawa, T., 2013. Consensus-based cooperative control for geometric configuration of UAVs flying in formation. Proc. SICE Annual Conf., p.1237–1242.
Kuriki, Y., Namerikawa, T., 2014. Consensus-based cooperative formation control with collision avoidance for a multi-UAV system. Proc. American Control Conf., p.2077–2082. http://dx.doi.org/10.1109/ACC.2014.6858777
Li, S., Chen, Y., Yang, Z., et al., 2012. Formation fight control of multi-UAVs with communication delay. Inform. Contr., 41(2): 142–146 (in Chinese). http://dx.doi.org/10.3724/SP.J.1219.2012.00142
Liu, B., Tang, W., 2000. Modern Control Theory. China Machine Press, Bei**g, p.193–199 (in Chinese).
Mercado, D.A., Castro, R., Lozano, R., 2013. Quadrotors flight formation control using a leader-follower approach. Proc. European Control Conf., p.3858–3863.
Ren, W., 2006. Consensus based formation control strategies for multi-vehicle systems. Proc. American Control Conf., p.4237–4242. http://dx.doi.org/10.1109/ACC.2006.1657384
Ren, W., Beard, R., 2002. Virtual structure based spacecraft formation control with formation feedback. Proc. AIAA Guidance, Navigation, and Control Conf. and Exhibit, p.1–8. http://dx.doi.org/10.2514/6.2002-4963
Seo, J., Ahn, C., Kim, Y., 2009. Controller design for UAV formation flight using consensus based decentralized approach. Proc. AIAA Infotech@Aerospace Conf., p.1–11. http://dx.doi.org/10.2514/6.2009-1826
Shan, J., Liu, H., 2005. Close-formation flight control with motion synchronization. J. Guid. Contr. Dynam., 28(6): 1316–1320. http://dx.doi.org/10.2514/1.13953
Shi, Z.K., 2008. Linear System Theory. Science Press, Bei**g (in Chinese).
Wang, J., Wei, R., Dong, Z., et al., 2010. Research on formation flight control of cooperative UAV. Fire Contr. Command Contr., 35(3): 34–38.
Wang, X.Y., Wang, X.M., **ao, Y.H., et al., 2012. Design of robust H ∞ controller for UAVs three-dimensional formation flight. Contr. Dec., 27(12): 1907–1911 (in Chinese). http://dx.doi.org/10.13195/j.cd.2012.12.150.wangxy.004
**ao, Y.H., Wang, X.M., Wang, X.Y., 2011. An effective controller design of formation flight of unmanned aerial vehicles (UAV). J. Northwestern Polytech. Univ., 29(6): 834–838 (in Chinese).
Author information
Authors and Affiliations
Corresponding author
Additional information
Project supported by the National Natural Science Foundation of China (No. 61473229), the Special Fund for Basic Scientific Research of Central Colleges, Chang’an University, China (Nos. 310832163403 and 310832161012), the Key Science and Technology Program of Shaanxi Province, China (No. 2017JQ6060), and the **’an Science and Technology Plan, China (No. CXY1512-3)
Rights and permissions
About this article
Cite this article
Yan, Md., Zhu, X., Zhang, Xx. et al. Consensus-based three-dimensionalmulti-UAV formation control strategy with high precision. Frontiers Inf Technol Electronic Eng 18, 968–977 (2017). https://doi.org/10.1631/FITEE.1600004
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1631/FITEE.1600004
Key words
- Multiple unmanned aerial vehicles
- Consensus
- Cooperative guidance
- Cooperative control
- Synchronization technology