Distributed bearing-based formation control of unmanned aerial vehicle swarm via global orientation estimation  

作　　者：Yuwei ZHANG Xingjian WANG Shaoping WANG Xinyu TIAN 

机构地区：[1]A School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China [2]Science and Technology on Aircraft Control Laboratory,Beihang University,Beijing 100191,China [3]Ningbo Institute of Technology,Beihang University,Ningbo 315800,China

出　　处：《Chinese Journal of Aeronautics》2022年第1期44-58,共15页中国航空学报（英文版）

基　　金：supported by the National Science and Technology Major Project,China(No.2017-V-0010-0060);the National Natural Science Foundation of China(No.51620105010,51805026,51675019);the National Basic Research Program of China(No.JCKY2018601C107);China Scholarship Council(No.201906020030).

摘　　要：Most existing formation control approaches for Unmanned Aerial Vehicle(UAV)swarm assume that global position and global coordinate frame are directly available for each agent.To extend the application domain,this paper proposes a distributed bearing-based formation control scheme,without any reliance on global position or global coordinate frame.The interactions among UAVs are described by a directed topology with two-leader structure.To address the issue of unavailable global coordinate frame,we first present a distributed orientation estimation law for each UAV to determine its orientation under the coordinate frame of the first leader.Based on the orientation estimation,we then design a bearing-based formation control law to globally asymptotically track target moving formations.Finally,simulation results are provided to validate the proposed method,which show that the translation,scale and orientation of the formation can be flexibly controlled via two leaders.

关 键 词：Bearing measurement Formation control Global orientation estimation Two-leader structure Unmanned aerial vehicles 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1