The Null Space Based Cooperative Formation Control for UAVs Swarm

Shi You Dong; Xiao Ping Zhu; Guo Qing Long

doi:10.4028/www.scientific.net/AMM.341-342.824

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 341-342The Null Space Based Cooperative Formation Control...

The Null Space Based Cooperative Formation Control for UAVs Swarm

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volumes 341-342)

Pages:

824-829

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.341-342.824

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Online since:

July 2013

Authors:

Shi You Dong, Xiao Ping Zhu, Guo Qing Long

Keywords:

Formation Potential Function, Null Space Strategy, UAVs Swarm

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