Formation control of a second-order UAVs system under switching topology with obstacle/collision avoidance
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ORIGINAL PAPER
Formation control of a second-order UAVs system under switching topology with obstacle/collision avoidance Shaoyang Mu1 · Pingfang Zhou1
· Dengping Duan1 · Jiwei Tang1
Received: 26 April 2020 / Revised: 20 July 2020 / Accepted: 22 July 2020 © Shanghai Jiao Tong University 2020
Abstract In this paper, the formation control problem of a second-order unmanned aerial vehicle swarm system with switching topology and collision/obstacle avoidance has been studied. First, the linear consensus protocol for formation control with switching topology is designed using graph theory. The conditions for information consensus are given. Second, the problem of collision/obstacle avoidance is also considered. And the consensus protocol with switching topology and collision/obstacle avoidance is proposed. The improved artificial potential approach is applied to realize collision/obstacle avoidance, which can avoid potential fields falling into the local minimum. Third, system stability under the proposed protocol is proved using the Lyapunov theory. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed protocol. Keywords Consensus protocol · Formation control · Switching topology · Collision/obstacle avoidance
1 Introduction Consensus problem has attracted a huge interest during the research in the past decades. The key point of the consensus problem is to design an algorithm/protocol that can guarantee all agents achieve consensus via local information exchange. A larger number of results have been obtained and widely utilized in trajectory tracking [1,2], formation control [3,4], and sensor networks [5,6]. With the development of technology, the UAV system has been widely used in fire-fighting [7], weather and climate data collection [8] for its low cost, simple structure, high mobility, and easy control. However, a single UAV often faces a variety of problems when carrying out tasks. A single UAV cannot accurately obtain all kinds of information around it limited by the number and detective range of its sensors. And when the UAV breaks down, it also declares the mission failure. Therefore, the study of UAV formation control is very important to deal with these problems. UAV swarm system means that multiple UAVs maintain a certain geometric structure and cooperate with each other. UAVs can adjust their state information dynamically by information interac-
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Pingfang Zhou [email protected] School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Dongchuan, RD. 800, Shanghai 200240, China
tion so that the whole system can work in coordination and complete various complex tasks. In [9], the algebraic graph theory is first used to solve the average consensus problem for formation control of a firstorder multi-agent system. And the basic consensus protocol is proposed to achieve formation control. The conditions that the network communication topology has a directed spanning tree are given to guarantee the first-order system can achieve consensus. Based on t
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