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Flocking Control In Networks of Multiple VTOL Agents with Nonlinear and Under-actuated Features
Shulong Zhao, Xiangke Wang, Tianjiang Hu, Daibing Zhang, Lincheng Shen
Pages - 1 - 13     |    Revised - 01-03-2015     |    Published - 31-03-2015
Volume - 6   Issue - 1    |    Publication Date - March / April 2015  Table of Contents
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KEYWORDS
Flocking, Multi-agent System, Under-actuated, VTOL, Formation.
ABSTRACT
In this paper, the problem of flocking control in networks of multiple Vertical Take-Off and Landing (VTOL) agents with nonlinear and under-actuated features is addressed. Compared with the widely used double-integrator model, the VTOL agents are distinguished with nonlinear and under-actuated dynamics and cannot be linearly parameterized. A unified and systematic procedure is employed to design the flocking controllers by using the backstepping technique to guarantee multi-agents to arrive at a fixed formation and converge in a desired geometric pattern whose centroid move along a desired trajectory. Finally, some numerical simulations are provided to illustrate the effectiveness of the new design.
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Dr. Shulong Zhao
College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha,410073, China - China
jaymaths@163.com
Dr. Xiangke Wang
College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha,410073, China - China
Associate Professor Tianjiang Hu
College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha,410073, China - China
Associate Professor Daibing Zhang
College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha,410073, China - China
Professor Lincheng Shen
College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha,410073, China - China