Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach

2016 ◽  
Vol 28 (3) ◽  
pp. 343-350 ◽  
Author(s):  
Shouhei Mori ◽  
◽  
Toru Namerikawa
Keyword(s):  
Formation Control ◽  
Control Algorithm ◽  
Consensus Algorithm ◽  
Network Links ◽  
Liner System ◽  
Linearized Model ◽  
Text Formation ◽  
Intermittent Communication ◽  
Structure Graph ◽  
Multi Uav

[abstFig src='/00280003/10.jpg' width=""260"" text='Formation control for multi-UAV system' ] The formation control algorithm we propose for a multi-UAV uses LMI conditions. Starting with a linearized model of UAVs such as a quadrotor, we introduce a formation control algorithm based on a consensus algorithm, a leader-follower structure, graph theory and the Lyapunov stability theorem for a liner system. We propose the control algorithm using the Lyapunov theorem and LMI conditions for intermittent communication. We demonstrate the proposed control algorithm’s stability even when network links are disconnected. Numerical simulation and experimental validation show the proposed control’s effectiveness.

Employing nonlinear observer for formation control of AUVs under communication constraints

2015 ◽  
Vol 3 (2/3) ◽  
pp. 122-155 ◽  
Author(s):  
Bikramaditya Das ◽  
Bidyadhar Subudhi ◽  
Bibhuti Bhusan Pati
Keyword(s):  
Formation Control ◽  
Control Algorithm ◽  
Unscented Kalman Filter ◽  
Sliding Mode ◽  
Nonlinear Observer ◽  
Consensus Algorithm ◽  
Acoustic Medium ◽  
Initial Error ◽  
Communication Constraints ◽  
Content Type

Purpose – The purpose of this paper is to propose development of a formation control algorithm by employing a nonlinear observer for compensating the delay in the sensor signal transmission to the controller arising due to packet dropout in acoustic medium. Design/methodology/approach – A robust control law is developed using the sliding mode approach integrated with a communication consensus algorithm for achieving cooperative motion of acoustic underwater vehicles in a group ensuring the transfer of information among the AUVs. In acoustic medium, inter-vehicle communication is challenging for a group of AUVs deployed in formation because underwater channel encounter a number of constraints such as low data rate, packet delays and dropouts. Findings – It is observed that the sliding mode control-unscented Kalman filter formation control exhibits superior control performance such as mitigating larger initial error of estimation and removing the use of the Jacobian matrices among the three controllers developed. The proposed nonlinear observer estimates the un-measureable states such as position in x, y and z-axes, heading, rudder and sturn angle, needed for generating the formation control. A simulation setup is realized to demonstrate the performance of the proposed observer-based formation controller. Simulations were performed in MATLAB and the obtained results are analysed and compared which envisage that the proposed control algorithm provides efficient formation control under the acoustic communication constraints. Originality/value – Development of observer for achieving formation control of AUVs in underwater area – common reference velocity and error signals being available to all cooperating AUVs – UKO performs better based on initial error estimation and tracking the same path in shallow water area.

scholarly journals Research on Multi-UAVs’ Sliding Mode Consensus Formation Control with Delay and Disturbance Constraints

2020 ◽  
Vol 38 (2) ◽  
pp. 420-426
Author(s):  
Danghui Yan ◽  
Weiguo Zhang ◽  
Hang Chen ◽  
Jingping Shi
Keyword(s):  
Formation Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
External Disturbance ◽  
Three Dimensional ◽  
Consensus Algorithm ◽  
Sliding Mode Controller ◽  
Consensus Formation ◽  
Formation System ◽  
Mode Formation

A consensus-based sliding mode formation control algorithm for the multi-unmanned-aerial-vehicles'(multi-UAVs') system with delay and disturbance constraints in three dimensional(3D) environment is presented. Firstly, a consensus algorithm is presented by considering the time delay. Secondly, the trajectory tracking and robustness of the formation system to the external disturbance is ensured by using the sliding mode controller(SMC). The effectiveness of the present algorithms is verified by the simulation results.

scholarly journals Formation Control Algorithm of Multi-UAV-Based Network Infrastructure

2018 ◽  
Vol 8 (10) ◽  
pp. 1740 ◽  
Author(s):  
Seongjoon Park ◽  
Kangho Kim ◽  
Hyunsoon Kim ◽  
Hwangnam Kim
Keyword(s):  
Formation Control ◽  
Control Algorithm ◽  
Control Strategies ◽  
Network Protocols ◽  
Network Simulator ◽  
Analysis Model ◽  
Network Infrastructure ◽  
Dynamic Transformation ◽  
Generic Dynamics ◽  
Multi Uav

This paper addresses the analysis and the deployment of the network infrastructure based on multiple Unmanned Air Vehicles (UAVs). Despite the unprecedented potential to the mobility of the network infrastructure, there has been no effort to establish a mathematical model of the infrastructure and formation control strategies. We model the generic dynamics of the network infrastructure and derive the network throughput of the infrastructure. Through the parametrization of the model, we extract the generic factors of the network protocols and verify our model through the Network Simulator 3 (ns-3). By exploiting our network analysis model, we propose a novel formation control algorithm that determines the location of the UAVs to maximize the efficiency of the network. To achieve the objectives of the infrastructure, we define the formation-shaping effect as forces and elaborately design them using the generic factors. The formation algorithm continuously approaches to the optimized formation of a fleet of UAVs to enhance the overall throughput of the terrestrial devices. Our evaluations show that the algorithm guarantees remarkably higher throughput than the static formations. Through the dynamic transformation of the UAV formation, we believe that the multi-UAV-based network infrastructure could expand the boundary of the existing infrastructure while reducing the network traffic.

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

Multi-UAV Formation Control Based on a Novel Back-Stepping Approach

2020 ◽  
Vol 69 (3) ◽  
pp. 2437-2448 ◽  
Author(s):  
Jialong Zhang ◽  
Jianguo Yan ◽  
Pu Zhang
Keyword(s):  
Formation Control ◽  
Multi Uav
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