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1 Introduction
1£®1 Research Significance
1£®2 Research Overview
1£®2£®1 Research Status on Cooperative Control Methods
1£®2£®2 Research Status on UAV Cluster Projects
1£®3 Outline
References
2 Background and Preliminaries
2£®1 Preliminaries
2£®1£®1 Notation and Definitions
2£®1 £® 2 Useful Lemmas
2£®1£®3 Filippov Solution and Non-Smooth Analysis
2£®2 Graph Theory
2£®3 System Models of VTOL UAVs
2£®3£®1 Attitude Representation
2£®3£®2 Kinematics and Dynamics of VTOL UAVs
2£®4 Conclusions
References
3 Distributed Formation Control for Clustered VTOL UAVs Over a Switching Topology
3£®1 Problem Statements
3£®1£®1 System Model
3£®1£®2 Switching Topology Graph
3£®1£®3 Control Objective
3£®2 Distributed Control Algorithm Development Over a Switching Topology
3£®2£®1 Problem Transformation
3£®2£®2 Command Force Synthesis
3£®2£®3 Applied Torque Synthesis
3£®2£®4 Stability Analysis
3£®3 Simulations
3£®4 Conclusions
References
4 Distributed Formation Control for Clustered VTOL UAVs Over a Distance-Based Topology
4£®1 Problem Statements
4£®1£®1 System Model
4£®1£®2 Distance-Based Network Topology
4£®1£®3 Control Objective
4£®2 Distributed Control Algorithm With Connectivity Maintenance Mechanism
4£®2£®1 Problem Transformation
4£®2£®2 Command Force Synthesis
4£®2£®3 Applied Torque Synthesis
4£®2£®4 Stability Analysis
4£®3 Simulations
4£®4 Conclusions
References
5 Adaptive Distributed Formation Control for Clustered VTOL UAVs with Parametric Uncertainties
5£®1 Problem Statements
5£®1£®1 System Model
5£®1£®2 Topology Graph
5£®1£®3 Control Objective
5£®2 Adaptive Distributed Control Algorithm
5£®2£®1 Problem Transformation
5£®2£®2 Command Force Synthesis
5£®2£®3 Applied Torque Synthesis
5£®2£®4 Stability Analysis
5£®3 Simulations
5£®4 Conclusions
References
6 Adaptive Fault-Tolerant Distributed Formation Control for Clustered VTOL UAVs
6£®1 Problem Statements
6£®1£®1 System Model
6£®1£®2 Actuator Faults
6£®1£®3 Topology Graph
6£®1£®4 Control Objective
6£®2 Adaptive Fault-Tolerant Distributed Control Algorithm
6£®2£®1 Problem Transformation
6£®2£®2 Command Force Synthesis
6£®2£®3 Desired Torque Synthesis
6£®2£®4 Stability Analysis
6£®3 Simulations
6£®4 Conclusions
References
7 Distributed Formation Tracking Control for Clustered VTOL UAVs Over Undirected Topology
7£®1 Problem Statements
7£®1£®1 System Model
7£®1£®2 Network Topology
7£®1£®3 Control Objective
7£®2 Distributed Control Algorithm Development Over Undirected Topology
7£®2£®1 Command Force Synthesis
7£®2£®2 Command Attitude Extraction
7£®2£®3 Applied Torque Synthesis
7£®2£®4 Stability Analysis
7£®3 Simulations
7£®4 Conclusions
References
8 Distributed Formation Tracking Control for Clustered VTOL UAVs Over Directed Topology
8£®1 Background
8£®1£®1 Problem Statements
8£®1£®2 Network Topology
8£®2 Distributed Control Algorithm Development Over Directed Topology
8£®2£®1 Distributed Estimator Design
8£®2£®2 Problem Transformation
8£®2£®3 Command Force Synthesis
8£®2£®4 Applied Torque Synthesis
8£®2£®5 Stability Analysis
8£®3 Simulations
8£®4 Conclusions
References
9 Distributed Output-Feedback Formation Tracking Control for Clustered VTOL UAVs
9£®1 Problem Statements
9£®1£®1 System Model
9£®1£®2 Network Topology
9£®1£®3 Control Objective
9£®2 Distributed Output-Feedback Control Algorithm Development
9£®2£®1 Command Force Synthesis
9£®2£®2 Command Attitude Extraction
9£®2£®3 Applied Torque Synthesis
9£®2£®4 Stability Analysis
9£®3 Simulation
9£®4 Conclusions
References