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The excessive diffusion of multiple unmanned aerial vehicle (UAV) cooperative system may lead to the cooperative failure, but to control the system scale is a potential way to solve this problem. First, macroscopic motion characteristic of multi-UAV cooperative searching system is abstracted, and then motion model of the platform is established. Afterwards, by constructing an appropriate Lyapunov function, the stable control mechanism of this system and its stable control parameters are obtained. Simulation results verify the following two conclusions: 1) the proposed stable control mechanism can not only make multi-UAV system realizes the effective cooperation, but also can ensure the stability of this system; 2) when this system is in a stable state, its scale can be controlled effectively by adjusting the relevant control parameters.
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Keywords:
- unmanned aerial vehicle /
- cooperative system /
- stability control
[1] Karimooddini A, Lin H, Chen B M, Lee T H 2013 Automatica 49 424
[2] Duan H B, Luo Q N, Shi Y H, Ma G J 2013 IEEE Comput. Intellig. Magaz. 8 16
[3] Dydek Z T, Anuradha A M, Lavretsky E 2013 Control Engineer. Pract. 21 1043
[4] No T S, Kim Y, Tahk M J, Jeon G E 2011 Aerospace Sci. Technol. 15 431
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[7] Liao F, Wang J L 2012 Proceedings of AIAA Guidance, Navigation, and Control Conference Minneapolis, Minnesota, August 13-16, 2012 p4823
[8] Manathara J G, Sujit P B, Beard R W 2011 J. Intellig. Robotic Syst. 62 125
[9] Sun T Y, Huo C L, Tsai S J, Yu Y H, Liu C C 2011 Expert Syst. Appl. 38 10036
[10] Brkle A, Segor F, Kollmann M 2011 J. Intellig. Robotic Syst. 61 339
[11] Jansson J, Gustafsson F 2008 Automatica 44 2347
[12] Schlanbusch R, Kristiansen R, Nicklasson PJ 2011 Automatica 47 1443
[13] Cetin B, Bikdash M, Hadaegh FY 2007 IET Control Theory Appl. 1 522
[14] Yang X L, Alvarez L M, Bruggemann T 2013 J. Intellig. Robot Syst. 70 315
[15] Borrelli F, Keviczky T, Balas G J 2004 The 43rd IEEE Conference on Decision and Control Nassau, December 17, 2004 p1099
[16] Sharma R K, Ghose D 2009 Int. J. Syst. Sci. 40 521
[17] Lee G, Chong N Y 2009 Mechatronics 19 85
[18] Guo L X, Hu M F, Hu A H, Xu Z Y 2014 Chin. Phys. B 23 050508
[19] Li L, Fang H J 2013 Chin. Phys. B 22 110505
[20] Xie Y Y, Wang Y, Ma Z J 2014 Acta Phys. Sin. 63 040202 (in Chinese) [谢媛艳, 王毅, 马忠军 2014 物理学报 63 040202]
[21] Ji L H, Liao X F 2012 Acta Phys. Sin. 61 150202 (in Chinese) [纪良浩, 廖晓峰 2012 物理学报 61 150202]
[22] Ji L H, Liao X F 2013 Chin. Phys. B 22 040203
[23] An B R, Liu G P 2014 Acta Phys. Sin. 63 090205 (in Chinese) [安宝冉, 刘国平 2014 物理学报 63 090205]
[24] Olfati-Saber R 2006 IEEE Trans. Autom. Control 51 401
[25] Su H S, Wang X F 2009 IEEE Trans. Autom. Control 54 293
[26] Oh K, Ahn H 2011 Automatica 47 2306
[27] Hamed R, Faraneh A 2013 Commun. Nonlinear Numer. Simulat 18 744
[28] Tang Y, Gao H J, Zou W 2013 IEEE Trans. Cyber. 43 358
[29] Liu Z, Guo L 2009 Automatica 45 2744
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[1] Karimooddini A, Lin H, Chen B M, Lee T H 2013 Automatica 49 424
[2] Duan H B, Luo Q N, Shi Y H, Ma G J 2013 IEEE Comput. Intellig. Magaz. 8 16
[3] Dydek Z T, Anuradha A M, Lavretsky E 2013 Control Engineer. Pract. 21 1043
[4] No T S, Kim Y, Tahk M J, Jeon G E 2011 Aerospace Sci. Technol. 15 431
[5] Paul t, Krogstad T R, Gravdahl J T 2008 Simul. Model. Pract. Theory 16 1453
[6] Doherty P, Rudol P 2007 Adv. Artific. Intellig. Lect. Notes Comput. Sci. 4830 1
[7] Liao F, Wang J L 2012 Proceedings of AIAA Guidance, Navigation, and Control Conference Minneapolis, Minnesota, August 13-16, 2012 p4823
[8] Manathara J G, Sujit P B, Beard R W 2011 J. Intellig. Robotic Syst. 62 125
[9] Sun T Y, Huo C L, Tsai S J, Yu Y H, Liu C C 2011 Expert Syst. Appl. 38 10036
[10] Brkle A, Segor F, Kollmann M 2011 J. Intellig. Robotic Syst. 61 339
[11] Jansson J, Gustafsson F 2008 Automatica 44 2347
[12] Schlanbusch R, Kristiansen R, Nicklasson PJ 2011 Automatica 47 1443
[13] Cetin B, Bikdash M, Hadaegh FY 2007 IET Control Theory Appl. 1 522
[14] Yang X L, Alvarez L M, Bruggemann T 2013 J. Intellig. Robot Syst. 70 315
[15] Borrelli F, Keviczky T, Balas G J 2004 The 43rd IEEE Conference on Decision and Control Nassau, December 17, 2004 p1099
[16] Sharma R K, Ghose D 2009 Int. J. Syst. Sci. 40 521
[17] Lee G, Chong N Y 2009 Mechatronics 19 85
[18] Guo L X, Hu M F, Hu A H, Xu Z Y 2014 Chin. Phys. B 23 050508
[19] Li L, Fang H J 2013 Chin. Phys. B 22 110505
[20] Xie Y Y, Wang Y, Ma Z J 2014 Acta Phys. Sin. 63 040202 (in Chinese) [谢媛艳, 王毅, 马忠军 2014 物理学报 63 040202]
[21] Ji L H, Liao X F 2012 Acta Phys. Sin. 61 150202 (in Chinese) [纪良浩, 廖晓峰 2012 物理学报 61 150202]
[22] Ji L H, Liao X F 2013 Chin. Phys. B 22 040203
[23] An B R, Liu G P 2014 Acta Phys. Sin. 63 090205 (in Chinese) [安宝冉, 刘国平 2014 物理学报 63 090205]
[24] Olfati-Saber R 2006 IEEE Trans. Autom. Control 51 401
[25] Su H S, Wang X F 2009 IEEE Trans. Autom. Control 54 293
[26] Oh K, Ahn H 2011 Automatica 47 2306
[27] Hamed R, Faraneh A 2013 Commun. Nonlinear Numer. Simulat 18 744
[28] Tang Y, Gao H J, Zou W 2013 IEEE Trans. Cyber. 43 358
[29] Liu Z, Guo L 2009 Automatica 45 2744
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