Formation control of robotized aerial vehicles based on consensus-based algorithms
| Autor: | Ivan Stojkovic, Dusko Katic |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
fomation control Computer science Mechanical Engineering Real-time computing quadrotor 02 engineering and technology dynamic model 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Mechanics of Materials consensus lcsh:TA1-2040 multi agent robotic systems Control (linguistics) lcsh:Engineering (General). Civil engineering (General) lcsh:Mechanics of engineering. Applied mechanics lcsh:TA349-359 030217 neurology & neurosurgery |
| Zdroj: | FME Transactions, Vol 45, Iss 4, Pp 559-564 (2017) FME Transactions (2017) 45(4):559-564 |
| ISSN: | 1451-2092 |
| Popis: | In this paper, consensus based formation control of multi robotized quadrotor vehicles is presented. The method is suitable in the case when information space is not huge, but includes as many states by how many degrees of freedom are achieved by consensus, or by the number of states in which the formation is achieved. Several extensions of the basic consensus algorithm are shown that include second-order consensus, as well as the case where the formation required to follow a predetermined external reference. Simulation results are fully consistent with the theory, but the implementation in real systems would have more details to take into consideration such as technical details about mutual communication. |
| Databáze: | OpenAIRE |
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