@inproceedings{6cff8c168c114b02adc4cafa4df35bb3,
title = "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.",
author = "Fang Liao and Wang, {Jian Liang}",
year = "2012",
doi = "10.2514/6.2012-4823",
language = "English",
isbn = "9781600869389",
series = "AIAA Guidance, Navigation, and Control Conference 2012",
publisher = "American Institute of Aeronautics and Astronautics Inc.",
booktitle = "AIAA Guidance, Navigation, and Control Conference 2012",
note = "AIAA Guidance, Navigation, and Control Conference 2012 ; Conference date: 13-08-2012 Through 16-08-2012",
}