Transactions of Nanjing University of Aeronautics & Astronautics
Decentralized Cooperative Control of Unmanned Aerial Vehicles Based on Emergent Mechanism of Starlings
- Article
- Figures
- Metrics
- Preview PDF
- Reference
- Related
- Cited by
- Materials
Abstract:
A novel decentralized control approach for unmanned aerial vehicles （UAVs） based on emergent collective behavior identified in starling flocks is proposed in this paper. With the self-organizing principle of starling flocking separation， alignment and cohesion behaviors， a fully distributed leaderless control is designed based on local interaction only. It is augmented by an adaptive switching event-triggered communication protocol， a novelty which greatly reduces the communication load， yet maintains swarming cohesion and formation stability rigorously. Via the Lyapunov stability theory， the formation error can converge to a boundary range， robustness to disturbances and partial communication burden. Ultimately， the numerical simulations are presented to verify the effectiveness of the theoretical results.
Keywords:
Project Supported:
This work was supported in part by the National Natural Science Foundation of China （Nos.624B2013， 62350048， U2541218， T2121003， 62533006）. The authors would like to acknowledge the following people for their assistance： HUO Mengzhen， WEI Chen， SUN Yongbin， WANG Siyuan， and YUAN Yang， all with the National Key Laboratory of Aircraft Integrated Flight Control， School of Automation Science and Electrical Engineering， Beihang University.
Clc Number:
TP271
Articles
Mobile website
