The Null Space Based Cooperative Formation Control for UAVs Swarm

摘要：

　　In this paper,the formation problem of UAVs swarm is studied based on a combination of the potential functions.On the basis of mathematical models of the traditional artificial potential field,a new formation potential function is proposed.The potential functions is merged using null space control strategy which is capable of dealing with conflicts among elementary potential functions and avoid local minimum problem.The results achieved by computer simulations suggest that the control approach can produces good effect.

关键词： UAVs Swarm Null Space Strategy Formation Potential Function

作者: Dong Shiyou Zhu Xiaoping Long Guoqing

作者单位: College of Astronautics Northwestern Polytechnical University,Xian,China Research Institute 365 Northwestern Polytechnical University,Xian,China

会议类型: 国际会议

会议名称: 2013 International Conference on Energy Research and Power Engineering(2013能源研究与电力工程国际会议)(ERPE2013)

会议地点: 郑州

会议语种:英文

页码: 407-412

在线出版日期: 2013-05-24（万方平台首次上网日期，不代表论文的发表时间）