Document Zbl 1542.93249

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A linear discrete-time formation protocol is developed based on the neighbouring relative position and velocity information. Using the state transformation method and properties of the stochastic matrix, the formation feasibility condition is given and sufficient conditions for the discrete-time multi-agent systems to accomplish the time-varying formation are established. An unmanned aerial vehicles (UAVs) formation experiment platform is constructed. Using four quadrotor UAVs, UAV formation flying experiments are performed to verify the effectiveness and reliability of the discrete-time formation protocol. The experimental results show that the theoretical results can be used to deal with the time-varying formation control problem for multiple UAVs system with communication delays and switching topology.<br class="zbmathjax-paragraph">© 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons, Ltd. on behalf of The Institution of Engineering and Technology</div> <div class="clear"></div> <br> <div class="citations"><div class="clear"><a href="/?q=rf%3A7916894">Cited in <strong>4</strong> Documents</a></div></div> <div class="classification"> <h3>MSC:</h3> <table><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C55" title="MSC2020">93C55</a> </td> <td class="space"> Discrete-time control/observation systems </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93A16" title="MSC2020">93A16</a> </td> <td class="space"> Multi-agent systems </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C85" title="MSC2020">93C85</a> </td> <td class="space"> Automated systems (robots, etc.) in control theory </td> </tr><tr> <td> <a class="mono" href="/classification/?q=cc%3A93C05" title="MSC2020">93C05</a> </td> <td class="space"> Linear systems in control theory </td> </tr></table> </div><div class="keywords"> <h3>Keywords:</h3><a href="/?q=ut%3Amobile+robots">mobile robots</a>; <a href="/?q=ut%3Aposition+control">position control</a>; <a href="/?q=ut%3Alinear+systems">linear systems</a>; <a href="/?q=ut%3Aaerospace+control">aerospace control</a>; <a href="/?q=ut%3Adistributed+control">distributed control</a>; <a href="/?q=ut%3Adelays">delays</a>; <a href="/?q=ut%3Adiscrete+time+systems">discrete time systems</a>; <a href="/?q=ut%3Aautonomous+aerial+vehicles">autonomous aerial vehicles</a>; <a href="/?q=ut%3Amulti-agent+systems">multi-agent systems</a>; <a href="/?q=ut%3Atopology">topology</a>; <a href="/?q=ut%3Amulti-robot+systems">multi-robot systems</a>; <a href="/?q=ut%3Atime-varying+systems">time-varying systems</a>; <a href="/?q=ut%3Asecond-order+discrete-time+multiagent+systems">second-order discrete-time multiagent systems</a>; <a href="/?q=ut%3Anonuniform+communication+delays">nonuniform communication delays</a>; <a href="/?q=ut%3Aswitching+topology">switching topology</a>; <a href="/?q=ut%3Atime-varying+formation+control+problem">time-varying formation control problem</a>; <a href="/?q=ut%3Anonuniform+communication+time-delays">nonuniform communication time-delays</a>; <a href="/?q=ut%3Alinear+discrete-time+formation+protocol">linear discrete-time formation protocol</a>; <a href="/?q=ut%3Aformation+feasibility+condition">formation feasibility condition</a>; <a href="/?q=ut%3Aunmanned+aerial+vehicles+formation">unmanned aerial vehicles formation</a>; <a href="/?q=ut%3AUAV+formation+flying+experiments">UAV formation flying experiments</a></div>  <div class="modal fade" id="metadataModal" tabindex="-1" role="dialog" aria-labelledby="myModalLabel"> <div class="modal-dialog" role="document"> <div class="modal-content"> <div class="modal-header"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> <h4 class="modal-title" id="myModalLabel">Cite</h4> </div> <div class="modal-body"> <div class="form-group"> <label for="select-output" class="control-label">Format</label> <select id="select-output" class="form-control" aria-label="Select Metadata format"></select> </div> <div class="form-group"> <label for="metadataText" class="control-label">Result</label> <textarea class="form-control" id="metadataText" rows="10" style="min-width: 100%;max-width: 100%"></textarea> </div> <div id="metadata-alert" class="alert alert-danger" role="alert" style="display: none;">  </div> </div> <div class="modal-footer"> <button type="button" class="btn btn-primary" onclick="copyMetadata()">Copy to clipboard</button> <button type="button" class="btn btn-default" data-dismiss="modal">Close</button> </div> </div> </div> </div> <div class="functions clearfix"> <div class="function">  <a type="button" class="btn btn-default btn-xs pdf" data-toggle="modal" data-target="#metadataModal" data-itemtype="Zbl" data-itemname="Zbl 1542.93249" data-ciurl="/ci/07916894" data-biburl="/bibtex/07916894.bib" data-amsurl="/amsrefs/07916894.bib" data-xmlurl="/xml/07916894.xml" > Cite </a> <a class="btn btn-default btn-xs pdf" data-container="body" type="button" href="/pdf/07916894.pdf" title="Zbl 1542.93249 as PDF">Review PDF</a> </div> <div class="fulltexts"> <span class="fulltext">Full Text:</span> <a class="btn btn-default btn-xs" type="button" href="https://doi.org/10.1049/iet-cta.2020.0183" aria-label="DOI for “Time-varying formation of second-order discrete-time multi-agent systems under non-uniform communication delays and switching topology with application to UAV formation flying”" title="10.1049/iet-cta.2020.0183">DOI</a> </div> <div class="sfx" style="float: right;"> </div> </div> <div class="references"> <h3>References:</h3> <table><tr> <td>[1]</td> <td class="space">Oh, K. 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