Event-Triggering in Three-Dimensional Leader-Follower Formation Control for Unmanned Aerial Vehicles

2016 ◽  
Author(s):  
Liang Sun ◽  
Bin Hu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Information Exchange ◽  
Formation Control ◽  
3D Model ◽  
Local Level ◽  
Three Dimensional ◽  
Control Law ◽  
Transmission Scheme ◽  
Aerial Vehicles ◽  
Event Triggered

This paper addresses a three-dimensional (3D) leader-follower formation control problem where an event-triggered transmission scheme is developed to schedule the information exchange between the leader and follower unmanned aerial vehicles (UAVs). A novel 3D model based on a local level spherical frame is developed to characterize the relative dynamics of the leader and follower UAVs. Based on this 3D model, a novel non-linear tracking control law is developed to achieve an exponential tracking performance of the system. An event-triggered communication scheduling scheme is adopted under the proposed 3D leader-follower framework in order to achieve an efficient use of communication bandwidth by adapting the transmission time for the changes on UAV states. The stability of the formation control law and the efficiency of the event-triggered method are verified and demonstrated in simulation.

Three-dimensional multiple unmanned aerial vehicles formation control strategy based on second-order consensus

2016 ◽  
Vol 232 (3) ◽  
pp. 481-491 ◽  
Author(s):  
Xu Zhu ◽  
Xun-Xun Zhang ◽  
Mao-De Yan ◽  
Yao-Hong Qu ◽  
Hai Lin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Cooperative Control ◽  
Formation Control ◽  
Three Dimensional ◽  
Second Order ◽  
Guidance Law ◽  
Aerial Vehicles ◽  
Cooperative Guidance ◽  
Consensus Strategy ◽  
Multiple Unmanned Aerial Vehicles

Considering three-dimensional formation control for multiple unmanned aerial vehicles, this paper proposes a second-order consensus strategy by utilizing the position and velocity coordinate variables. To maintain the specified geometric configuration, a cooperative guidance algorithm and a cooperative control algorithm are proposed together to manage the position and attitude, respectively. The cooperative guidance law, which is designed as a second-order consensus algorithm, provides the desired pitch rate, heading rate and acceleration. In addition, a synchronization technology is put forward to reduce the influence of the measurement errors for the cooperative guidance law. The cooperative control law, regarding the output of the cooperative guidance law as its input, is designed by deducing the state-space expression of both the longitudinal and lateral motions. The formation stability is analyzed to give a sufficient and necessary condition. Finally, the simulations for the three-dimensional formation control demonstrate the feasibility and effectiveness of the second-order consensus strategy.

scholarly journals Robust Formation Control Based on Leader-Following Consensus in Multi-Agent Systems With Faults in the Information Exchange: Application in a Fleet of Unmanned Aerial Vehicles

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 104940-104949
Author(s):  
Juan Antonio Vazquez Trejo ◽  
Manuel Adam-Medina ◽  
Carlos Daniel Garcia-Beltran ◽  
Gerardo Vicente Guerrero Ramirez ◽  
Betty Yolanda Lopez Zapata ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Information Exchange ◽  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Aerial Vehicles ◽  
Leader Following ◽  
Multi Agent

scholarly journals Event-triggered leader-following formation control for multi-agent systems under communication faults: Application to a fleet of unmanned aerial vehicles

2021 ◽  
Vol 32 (5) ◽  
pp. 1014-1022
Author(s):  
Vazquez Trejo Juan Antonio ◽  
Guenard Adrien ◽  
Adam-Medina Manuel ◽  
Ponsart Jean-Christophe ◽  
Ciarletta Laurent ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Aerial Vehicles ◽  
Leader Following ◽  
Multi Agent ◽  
Event Triggered

A method for autonomous collision-free navigation of a quadrotor UAV in unknown tunnel-like environments

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
Taha Elmokadem ◽  
Andrey V. Savkin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Practical Implementation ◽  
Challenging Problem ◽  
Quadrotor Uav ◽  
Navigation Algorithm ◽  
Aerial Vehicles ◽  
Quadrotor Uavs

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.

Bird Flocking Inspired Formation Control for Unmanned Aerial Vehicles Using Stereo Camera

2019 ◽  
Vol 13 (3) ◽  
pp. 3580-3589 ◽  
Author(s):  
Jonathan Lwowski ◽  
Abhijit Majumdar ◽  
Patrick Benavidez ◽  
John J. Prevost ◽  
Mo Jamshidi
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Stereo Camera ◽  
Aerial Vehicles
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