Proceedings of the 2018 Second International Conference of Sensor Network and Computer Engineering (ICSNCE 2018)

Quadrotor Formation Control Method Based on Graph and Consistency Theory

Authors
Yang Sen, Xi Leiping
Corresponding Author
Yang Sen
Available Online April 2018.
DOI
10.2991/icsnce-18.2018.7How to use a DOI?
Keywords
Formation Control; Graph Theory; Consistency Theory; Second-order Integrator; Pilot-follow Method
Abstract

This paper introduces graph and group system consistency theory and puts forward a quadrotor formation control method. The quadrotor is described as a second-order integrator dynamic system, and the relative position deviation of different quadrotors is used to describe formation. According to the communication topology relationship between quadrotors, the formation is modeled by graph theory. The fusion of the pilot-follow and graph theory method is analyzed, and a second-order coherence algorithm with a pilot is presented. With this algorithm, the quadrotors can complete behaviors just as formation rally and formation mobility etc. Finally the paper verifies the availability of the proposed method through simulation tests.

Copyright
© 2018, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2018 Second International Conference of Sensor Network and Computer Engineering (ICSNCE 2018)
Series
Advances in Computer Science Research
Publication Date
April 2018
ISBN
10.2991/icsnce-18.2018.7
ISSN
2352-538X
DOI
10.2991/icsnce-18.2018.7How to use a DOI?
Copyright
© 2018, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Yang Sen
AU  - Xi Leiping
PY  - 2018/04
DA  - 2018/04
TI  - Quadrotor Formation Control Method Based on Graph and Consistency Theory
BT  - Proceedings of the 2018 Second International Conference of Sensor Network and Computer Engineering (ICSNCE 2018)
PB  - Atlantis Press
SP  - 27
EP  - 34
SN  - 2352-538X
UR  - https://doi.org/10.2991/icsnce-18.2018.7
DO  - 10.2991/icsnce-18.2018.7
ID  - Sen2018/04
ER  -