文章基本信息

标题：Quadrocopters Formation Control Over the Limited-band Communication Network ∗
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作者：Boris Andrievsky ; Stanislav Tomashevich ; Alexander L. Fradkov 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：9
页码：85-90
DOI：10.1016/j.ifacol.2015.08.064
语种：English
出版社：Elsevier
摘要：AbstractIn the paper, stability and tracking accuracy of the group of quadrocopters, flying in the formation are studied taking into account jointly dynamics of the single agent in the formation, structure of information flow graph and the data rate limitations between the agents in formation. Stability of the formation in the absence of data quantization is studied both for continuous-time and discrete-time system cases. The results of the numerical study of the formation performance for the case of binary adaptive quantization of data transmission between the agents are presented. The results obtained confirm the theoretical statements, following from the data rate theorem and give the quantitative information about the system performance in the case of data rate limitations and the adaptive binary coding/decoding procedure.
关键词：KeywordsUAVformation flightcommunication networkguidancenavigationcontrol