{"title":"基于backstepping的飞行编队控制器","authors":"P. Flores-Palmeros, P. Castillo, F. Castaños","doi":"10.1109/ICUAS.2019.8798103","DOIUrl":null,"url":null,"abstract":"A Backstepping controller based on SE(3) for achieving multi-agents consensus and flight formation of a drones fleet is developed in this paper. The controller is obtained using the nonlinear model of the quadrotor and derived with virtual inputs to converge the fleet to desired references. The stability analysis of the controller is analyzed and proved with the Lyapunov theory. Emulations of the control algorithm are carried out for validating the well performance of the closed-loop system.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Backstepping-Based Controller for Flight Formation\",\"authors\":\"P. Flores-Palmeros, P. Castillo, F. Castaños\",\"doi\":\"10.1109/ICUAS.2019.8798103\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A Backstepping controller based on SE(3) for achieving multi-agents consensus and flight formation of a drones fleet is developed in this paper. The controller is obtained using the nonlinear model of the quadrotor and derived with virtual inputs to converge the fleet to desired references. The stability analysis of the controller is analyzed and proved with the Lyapunov theory. Emulations of the control algorithm are carried out for validating the well performance of the closed-loop system.\",\"PeriodicalId\":426616,\"journal\":{\"name\":\"2019 International Conference on Unmanned Aircraft Systems (ICUAS)\",\"volume\":\"64 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 International Conference on Unmanned Aircraft Systems (ICUAS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICUAS.2019.8798103\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICUAS.2019.8798103","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Backstepping-Based Controller for Flight Formation
A Backstepping controller based on SE(3) for achieving multi-agents consensus and flight formation of a drones fleet is developed in this paper. The controller is obtained using the nonlinear model of the quadrotor and derived with virtual inputs to converge the fleet to desired references. The stability analysis of the controller is analyzed and proved with the Lyapunov theory. Emulations of the control algorithm are carried out for validating the well performance of the closed-loop system.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
