Formation and reconfiguration control for nonholonomic UAVs with velocity constraints

Abstract

In this paper, an unified consensus-based feedback control strategy is proposed for formation and reconfiguration control of nonholonomic UAVs with velocity constraints. A state-dependent network topology is used to model the communication links among UAVs. Based on the conception of consensus, proportional and integral (PI) control of the relative position between vehicles is introduced to achieve and maintain a desired formation configuration. A bounded time-varying control parameter is designed for each UAV to ensure that its velocity always satisfy the given velocity constraints. The proposed control strategy is shown to guarantee that the multi-UAV system converge to a desired formation configuration subject to the given velocity constraints. An example is used to demonstrate the proposed approach. © 2012 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.