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    Consensus Control of Large-Scale UAV Swarm Based on Multi-Layer Graph

    Consensus Control of Large-Scale UAV Swarm Based on Multi-Layer Graph

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    An efficient control of large-scale unmanned aerial vehicle (UAV) swarm to establish a complex formation is one of the most challenging tasks. This paper investigates a novel multi-layer topology network and consensus control approach for a large-scale UAV swarm moving under a stable configuration. The proposed topology can make the swarm remain robust in spite of the large number of UAVs. Then a potential function-based controller is developed to control the UAVs in realizing autonomous configuration swarming under the consideration of mutual collision, and the stability of the controller from the individual UAV to the entire swarm system is analyzed by a Lyapunov approach. Afterwards, a yaw angle adjustment approach for the UAVs to reach consensus is developed for the multi-layer swarm, then the direction state of each UAV converges with a fast rate. Finally, simulations are performed on the large-scale UAV swarm system to demonstrate the effectiveness of the proposed scheme.

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    Titel :

    Consensus Control of Large-Scale UAV Swarm Based on Multi-Layer Graph

    Beteiligte:
    Taiqi Wang (Autor:in) / Shuaihe Zhao (Autor:in) / Yuanqing Xia (Autor:in) / Zhenhua Pan (Autor:in) / Hanwen Tian (Autor:in)
    Erschienen in:

    Drones, Vol 6, Iss 12, p 402 (2022)

    Erscheinungsdatum :

    2022

    ISSN :

    2504-446X

    DOI :

    https://doi.org/10.3390/drones6120402

    Medientyp :

    Aufsatz (Zeitschrift)

    Format :

    Elektronische Ressource

    Sprache :

    Unbekannt

    Schlagwörter :

    multi-layer graph , potential function , consensus control , UAV swarm , Motor vehicles. Aeronautics. Astronautics , TL1-4050

    Metadata by DOAJ is licensed under ​CC BY-SA 1.0

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