Ningbo An, Qishao Wang, Xiaochuan Zhao, Qingyun Wang
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引用次数: 0
Abstract
This paper proposes a distributed control method based on the differential flatness (DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.
期刊介绍：
Applied Mathematics and Mechanics is the English version of a journal on applied mathematics and mechanics published in the People''s Republic of China. Our Editorial Committee, headed by Professor Chien Weizang, Ph.D., President of Shanghai University, consists of scientists in the fields of applied mathematics and mechanics from all over China.
Founded by Professor Chien Weizang in 1980, Applied Mathematics and Mechanics became a bimonthly in 1981 and then a monthly in 1985. It is a comprehensive journal presenting original research papers on mechanics, mathematical methods and modeling in mechanics as well as applied mathematics relevant to neoteric mechanics.
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