A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors
This paper deals with the problem of multiquadrotor collaborative control by developing and analyzing a new type of fixed-time formation control algorithm. The control strategy proposes a hierarchical control framework, which consists of two layers: a coordinating control layer and a tracking contro...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2021/9979713 |
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| _version_ | 1832559713754021888 |
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| author | Miaojie Huang Qiang Lu |
| author_facet | Miaojie Huang Qiang Lu |
| author_sort | Miaojie Huang |
| collection | DOAJ |
| description | This paper deals with the problem of multiquadrotor collaborative control by developing and analyzing a new type of fixed-time formation control algorithm. The control strategy proposes a hierarchical control framework, which consists of two layers: a coordinating control layer and a tracking control layer. On the coordinating control layer, according to the fixed-time consistency theory, the virtual position and virtual velocity of each quadrotor are calculated and acquired to form a virtual formation, and the virtual velocity reaches consistency. On the tracking control layer, the real position and the real velocity track the virtual position and the virtual velocity, respectively. Thus, multiquadrotor can achieve the required formation shape and velocity consensus. Finally, the comparative simulations are carried out to illustrate the feasibility and superiority of the proposed fixed-time hierarchical formation control method for multiquadrotor collaborative control. |
| format | Article |
| id | doaj-art-a5bc663186ba4b2aac1f64542a82d884 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-a5bc663186ba4b2aac1f64542a82d8842025-02-03T01:29:22ZengWileyJournal of Robotics1687-96001687-96192021-01-01202110.1155/2021/99797139979713A Fixed-Time Hierarchical Formation Control Strategy for MultiquadrotorsMiaojie Huang0Qiang Lu1School of Automation, Hangzhou Dianzi University, Hangzhou, ChinaSchool of Automation, Hangzhou Dianzi University, Hangzhou, ChinaThis paper deals with the problem of multiquadrotor collaborative control by developing and analyzing a new type of fixed-time formation control algorithm. The control strategy proposes a hierarchical control framework, which consists of two layers: a coordinating control layer and a tracking control layer. On the coordinating control layer, according to the fixed-time consistency theory, the virtual position and virtual velocity of each quadrotor are calculated and acquired to form a virtual formation, and the virtual velocity reaches consistency. On the tracking control layer, the real position and the real velocity track the virtual position and the virtual velocity, respectively. Thus, multiquadrotor can achieve the required formation shape and velocity consensus. Finally, the comparative simulations are carried out to illustrate the feasibility and superiority of the proposed fixed-time hierarchical formation control method for multiquadrotor collaborative control.http://dx.doi.org/10.1155/2021/9979713 |
| spellingShingle | Miaojie Huang Qiang Lu A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors Journal of Robotics |
| title | A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors |
| title_full | A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors |
| title_fullStr | A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors |
| title_full_unstemmed | A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors |
| title_short | A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors |
| title_sort | fixed time hierarchical formation control strategy for multiquadrotors |
| url | http://dx.doi.org/10.1155/2021/9979713 |
| work_keys_str_mv | AT miaojiehuang afixedtimehierarchicalformationcontrolstrategyformultiquadrotors AT qianglu afixedtimehierarchicalformationcontrolstrategyformultiquadrotors AT miaojiehuang fixedtimehierarchicalformationcontrolstrategyformultiquadrotors AT qianglu fixedtimehierarchicalformationcontrolstrategyformultiquadrotors |