Consensus algorithm for multiple quadrotor systems under fixed and switching topologies  

作　　者：Yinqiu Wang Qinghe Wu Yao Wang Di Yu 

机构地区：[1]School of Automation,Beijing Institute of Technology

出　　处：《Journal of Systems Engineering and Electronics》2013年第5期818-827,共10页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(61074031)

摘　　要：The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.

关 键 词：CONSENSUS multiple quadrotor system high-order nonlinear system feedback linearization switching topology. 

分 类 号：V224[航空宇航科学与技术—飞行器设计]