Multi-Unmanned Helicopter Formation Control on Relative Dynamics

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	Multi-Unmanned Helicopter Formation Control on Relative Dynamics
	Wang Z(王争); He YQ(何玉庆); Han JD(韩建达)
	2009
会议名称	IEEE International Conference on Mechatronics and Automation
会议日期	August 9-12, 2009
会议地点	Changchum, China
关键词	Unmanned Helicopter Formation Control Relative Dynamics Approximate Linearization H infinity Control
页码	4381-4386
中文摘要	Multiple Unmanned Helicopters (UH) formation control is a difficult problem due to the highly nonlinear model and extensively existing uncertainties. In this paper, basing on the concept of relative dynamics and Leader-Follower formation strategy, a new formation control algorithm is given to partially solve this problem. First, the formation control problem is transformed into tracking problems of multiple Leader-Follower partners, and the relative dynamics model is derived by combining a fully dynamics model of follower UH system and a simplified model of leader UH system. Second, with the approximate feedback linearization method, a nonlinear robust tracking controller is designed by the H infinity control technology. Finally, simulations of the new proposed method with two UH systems are conducted, and the results are compared with the normal Leader-Follower formation control algorithm to show the improvement.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, IEEE Robot & Automat Soc, Changsha Univ Scie & Technol, Kagawa Univ, Natl Nat Sci Fdn China, Chinese Assoc Automat, Robot Soc Japan, Japan Soc Mech Engn, Japan Soc Precis Engn, Soc Instrument & Control Engineers, Harbin Engn Univ, Univ Elect Commun, Univ Elect Sci & Technol China, Beijing Univ Technol, Jilin Univ, Kagoshima Univ, Harbin Inst Technol, Assoc Young Sci &Technol
会议录	2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-2692-8
WOS记录号	WOS:000280158102132
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8798]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wang Z,He YQ,Han JD. Multi-Unmanned Helicopter Formation Control on Relative Dynamics[C]. 见:IEEE International Conference on Mechatronics and Automation. Changchum, China. August 9-12, 2009.