Trajectory planning and re-planning for fault tolerant formation flight control of quadrotor unmanned aerial vehicles

2012 ◽  
Author(s):  
A. Chamseddine ◽  
Youmin Zhang ◽  
C. A. Rabbath
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Trajectory Planning ◽  
Flight Control ◽  
Fault Tolerant ◽  
Formation Flight ◽  
Aerial Vehicles ◽  
Quadrotor Unmanned Aerial Vehicles

scholarly journals Virtual Electric Dipole Field Applied to Autonomous Formation Flight Control of Unmanned Aerial Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4540
Author(s):  
Leszek Ambroziak ◽  
Maciej Ciężkowski
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Flight Control ◽  
Electric Dipole ◽  
Potential Field ◽  
Control Algorithm ◽  
Formation Flight ◽  
Potential Fields ◽  
Dipole Potential ◽  
Aerial Vehicles

The following paper presents a method for the use of a virtual electric dipole potential field to control a leader-follower formation of autonomous Unmanned Aerial Vehicles (UAVs). The proposed control algorithm uses a virtual electric dipole potential field to determine the desired heading for a UAV follower. This method’s greatest advantage is the ability to rapidly change the potential field function depending on the position of the independent leader. Another advantage is that it ensures formation flight safety regardless of the positions of the initial leader or follower. Moreover, it is also possible to generate additional potential fields which guarantee obstacle and vehicle collision avoidance. The considered control system can easily be adapted to vehicles with different dynamics without the need to retune heading control channel gains and parameters. The paper closely describes and presents in detail the synthesis of the control algorithm based on vector fields obtained using scalar virtual electric dipole potential fields. The proposed control system was tested and its operation was verified through simulations. Generated potential fields as well as leader-follower flight parameters have been presented and thoroughly discussed within the paper. The obtained research results validate the effectiveness of this formation flight control method as well as prove that the described algorithm improves flight formation organization and helps ensure collision-free conditions.

scholarly journals A sectorial fuzzy consensus algorithm for the formation flight of multiple quadrotor unmanned aerial vehicles

2020 ◽  
Vol 12 ◽  
pp. 175682932097357
Author(s):  
E Javier Ollervides-Vazquez ◽  
Erik G Rojo-Rodriguez ◽  
Octavio Garcia-Salazar ◽  
Luis Amezquita-Brooks ◽  
Pedro Castillo ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Fuzzy Controller ◽  
Fuzzy Theory ◽  
Lyapunov Theory ◽  
Formation Flight ◽  
Consensus Algorithm ◽  
State Variables ◽  
Globally Asymptotically Stable ◽  
Aerial Vehicles ◽  
Quadrotor Unmanned Aerial Vehicles

This paper presents an algorithm based on fuzzy theory for the formation flight of the multi-quadrotors. For this purpose, the mathematical model of N-quadrotor unmanned aerial vehicles is presented using the Newton-Euler formulation. The strategy of the formation flight is based on a structure composed by a sectorial fuzzy controller and the linear systems whose state variables are the position and velocity of the ith quadrotor. The stability analysis is described as a generalized form for N-quadrotor unmanned aerial vehicles and it is based on the Lyapunov theory. This analysis demonstrates that the closed-loop system is globally asymptotically stable so that the quadrotors unmanned aerial vehicles reach the consensus. Numerical simulation demonstrates the robustness of the proposed scheme for the formation flight even in the presence of disturbances. Finally, experimental results show the feasibility of the proposed algorithm for the formation flight of multiple unmanned aerial vehicles.

A Virtual Environment for Simulation of Formation Flight

2015 ◽  
Vol 713-715 ◽  
pp. 263-266
Author(s):  
Zhen Dong Xu ◽  
Tao Shang ◽  
Rong Min Sun ◽  
De Ming Wang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Virtual Environment ◽  
Flight Control ◽  
Video Camera ◽  
Formation Flight ◽  
Nonlinear Characteristics ◽  
Control Laws ◽  
Aerial Vehicles ◽  
Highly Nonlinear ◽  
Formation Keeping

This paper presents the design of Unmanned Aerial Vehicles (UAVs) formation flight control laws and then the virtual Environment setup of a nice structure for close formation flight. The images of the target airplane projected on the video-camera plane of the follower airplane are captured and processed into vision information The simulation setup includes airplane dynamics, autopilots and formation keeping controller and module that creates virtual environment for the simulation of the vision software called Unity3D. The UKF is applied to the relative motion estimator due to the highly nonlinear characteristics of the problem.

Sign in / Sign up

Export Citation Format

Share Document