We propose a formation control strategy for multiple unmanned aerial vehicles （multi-UAV） based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor int...We propose a formation control strategy for multiple unmanned aerial vehicles （multi-UAV） based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration, managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model, tile cooperative guidance algorithm, and the cooperative control algorithm, the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm, providing the desired acceleration, pitch rate, and heading rate. Longitudinal and lateral motions are jointly considered, and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed, and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.展开更多
The creation of a suitable wide area monitoring system(WAMS) is widely recognized as an essential aspect of delivering a power system that will be secure,efficient and sustainable for the foreseeable future. In Great ...The creation of a suitable wide area monitoring system(WAMS) is widely recognized as an essential aspect of delivering a power system that will be secure,efficient and sustainable for the foreseeable future. In Great Britain(GB), the deployment of the first WAMS to monitor the entire power system in real time was the responsibility of the visualization of real time system dynamics using enhanced monitoring(VISOR) project. The core scope of the VISOR project is to deploy this WAMS and demonstrate how WAMS applications can in the near term provide system operators and planners with clear, actionable information. This paper presents the wider scope of the VISOR project and the GB wide WAMS that has been deployed. Furthermore, the paper describes some of the WAMS applications that have been deployed and provides examples of the measurement device performance issues that have been encountered during the project.展开更多
基金supported by the National Natural Science Foundation of China(No.61473229)the Special Fund for Basic Scientific Research of Central Colleges,Chang’an University,China(Nos.310832163403 and 310832161012)+1 种基金the Key Science and Technology Program of Shaanxi Province,China(No.2017JQ6060)the Xi’an Science and Technology Plan,China(No.CXY1512-3)
文摘We propose a formation control strategy for multiple unmanned aerial vehicles （multi-UAV） based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration, managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model, tile cooperative guidance algorithm, and the cooperative control algorithm, the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm, providing the desired acceleration, pitch rate, and heading rate. Longitudinal and lateral motions are jointly considered, and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed, and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.
基金supported by the GB Network Innovation Competition(NIC)
文摘The creation of a suitable wide area monitoring system(WAMS) is widely recognized as an essential aspect of delivering a power system that will be secure,efficient and sustainable for the foreseeable future. In Great Britain(GB), the deployment of the first WAMS to monitor the entire power system in real time was the responsibility of the visualization of real time system dynamics using enhanced monitoring(VISOR) project. The core scope of the VISOR project is to deploy this WAMS and demonstrate how WAMS applications can in the near term provide system operators and planners with clear, actionable information. This paper presents the wider scope of the VISOR project and the GB wide WAMS that has been deployed. Furthermore, the paper describes some of the WAMS applications that have been deployed and provides examples of the measurement device performance issues that have been encountered during the project.
