Abstract
In this paper, a consensus-based formation control of a group of UAV is realized to obtain a deltoid formation. Before designing the CC algorithm, the mathematical expressions of the double integrator UAV dynamics are given briefly. Then, to achieve a deltoid formation shape, the communication graph between UAVs was first described to define the adjacency matrix. After that, the Laplacian matrix was obtained via adjacency and degree matrix. By using the graph Laplacian matrix and local information exchange between the vehicles, the proposed CC algorithm was designed depending on the DID of the UAV. Also, a collision avoidance algorithm was added to the main control algorithm to avoid any collision between the UAVs. The simulation results show the effectiveness of the CC algorithm.
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Abbreviations
- DID:
-
Double Integrator Dynamics
- DOF:
-
Degree of Freedom
- CC:
-
Consensus Control
- UAV:
-
Unmanned Aerial Vehicle
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Can, K., Başçi, A. (2024). Swarm Control of a Group of Unmanned Aerial Vehicle Under Fixed Consensus Topology. In: Karakoc, T.H., et al. Novel Techniques in Maintenance, Repair, and Overhaul. ISATECH 2022. Sustainable Aviation. Springer, Cham. https://doi.org/10.1007/978-3-031-42041-2_19
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