Collision-free Formation Control for Quadrotor Networks Based on Distributed Quadratic Programs
Collision-free Formation Control for Quadrotor Networks Based on Distributed Quadratic Programs
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DOI：
10.23919/acc.2019.8814603
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发表时间：
2019-07
期刊：
影响因子：
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通讯作者：
M. Endo;Tatsuya Ibuki;M. Sampei
中科院分区：
文献类型：
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作者：
M. Endo;Tatsuya Ibuki;M. Sampei
研究了网络化四旋翼飞行器的分布式无碰撞编队控制问题。四旋翼动力学的第一个推导和严格的线性化。然后，定义了由多个四旋翼组成的四旋翼网络及其动力学和互连拓扑，并引入了基于一致性的编队控制律作为名义控制器。接下来，基于控制障碍函数导出用于避免碰撞的输入条件，并且作为主要贡献，在明确考虑四旋翼动力学的同时，将条件修改为分布式。这种分布使得每个四旋翼能够通过分布式二次规划来计算实际控制输入。本文还提出了一种先进的避碰方法的严重情况。本控制器的有效性，通过仿真证明。
This paper studies a distributed collision-free formation control problem for networked quadrotors. The quadrotor dynamics is first derived and strictly linearized. Then, the quadrotor network consisting of multiple quadrotors with the dynamics and interconnection topology between them is defined, and a consensus-based formation control law is introduced as a nominal controller. Input conditions for collision avoidance are next derived based on control barrier functions, and as the main contribution, the conditions are modified to be distributed while explicitly considering the quadrotor dynamics. This distribution enables each quadrotor to calculate the actual control input by distributed quadratic programs. This paper also presents an advanced collision avoidance method for severe situations. The effectiveness of the present controllers is demonstrated via simulation.