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지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 1,169 - 1,174 (6page)
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초록· 키워드
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In this paper, we consider that a group of four quad-rotors in three dimension is controlled by the formation control law. Formation control problems in three dimension have been of considerable interest in both the control community and its applications. Also, the quad-rotor has received attention, because they can hover, vertically take-off and land. We use a formation control law in three dimension based on inter-agent distances. By the direct control of the Euclidean distance matrix of the group, we use the control law from the time derivative of the Euclidean distance matrix associated with the realization of the group. Assume that the initial and desired formation are not collinear, and the information graph is complete, then the desired formation of the group is globally asymptotically stable with all squared inter-agent errors exponentially converging to zero. Simulation results show the formation control of four quad-rotors in three dimension is stable, and it supports the control law.
목차
Abstract
1. INTRODUCTION
2. PRELIMINARIES
3. CONTROL LAW DESIGN
4. STABILITY AND SIMULATIONS
5. CONCLUSION AND FUTUREWORKS
6. ACKNOWLEDGEMENTS
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000914400