%0 Journal Article
%T Relative dynamic modeling and formation control of multiple unmanned helicopters<br>多无人直升机的相对动力学建模方法及其编队控制
%A WANG Zheng
%A HE Yu-qing
%A HAN Jian-da
%A <br>王争
%A 何玉庆
%A 韩建达
%J 控制理论与应用
%D 2011
%I 
%X Based on the concept of relative dynamics and leader-follower formation strategy, a new formation control algorithm is developed to partially solve the formation problem. Firstly, the relative dynamics is derived by combining the 6-DOF rigid body relative dynamics with the individual unmanned helicopter dynamics. Secondly, with the cascade control structure which includes inner and outer loops, a tracking controller is designed by using the techniques of approximate feedback linearization and the extended high gain observer. Finally, simulations of the proposed method with two unmanned helicopter systems are conducted to test the desired tracking performance and feasible disturbance rejection.
%K unmanned helicopter
%K formation control
%K relative dynamics<br>无人直升机
%K 编队控制
%K 相对动力学
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=F456D0C486CEB20A427E9080D362DF7A&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=CA4FD0336C81A37A&sid=6270DC1B5693DDAF&eid=4BB057F167CF3A60&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=9