Quadrocopters formation control over the limited-band communication network

Boris Andrievsky, Stanislav Tomashevich, Alexander L. Fradkov, Konstantin Amelin

Результат исследований: Научные публикации в периодических изданияхстатья в журнале по материалам конференции

2 Цитирования (Scopus)

Аннотация

In 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.

Язык оригиналаанглийский
Страницы (с-по)85-90
Число страниц6
ЖурналIFAC-PapersOnLine
Том28
Номер выпуска9
DOI
СостояниеОпубликовано - 1 июл 2015
Событие1st IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles, ACNAAV 2015 - Seville, Испания
Продолжительность: 10 июн 201512 июн 2015

Предметные области Scopus

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