SIM-TPV

This is the simulation of the method of ZYS's and WHL's on consensus of TPV model

1, Reference:

[1].Dong X, Yu B, Shi Z, et al.

Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications[J].

Control Systems Technology IEEE Transactions on, 2015, 23(1):340-348.

[2].Wang H.

Second-Order Consensus of Networked Thrust-Propelled Vehicles on Directed Graphs[J].

IEEE Transactions on Automatic Control, 2016, 61(1):222-227.

2, Notes

Model: Model is TPV, the input controller are thrust and angular acceleration along three axis. Please go to model.m for details.

3, Usage

just run main.m ;

• flag = 0 : Formation is circle;
• flag = 1 : Formation is parabolic;
• flag = 2 : test for consensus.

4, Screenshots

• flag = 0: ZYS: WHL:
• flag = 1: ZYS: WHL:
• flag = 2: ZYS: WHL: