scholarly journals Quadrotor Formation Strategies Based on Distributed Consensus and Model Predictive Controls

2018 ◽  
Vol 8 (11) ◽  
pp. 2246 ◽  
Author(s):  
Chia-Wei Chang ◽  
Jaw-Kuen Shiau
Keyword(s):  
Formation Control ◽  
Vertical Motion ◽  
Formation Flight ◽  
Horizontal Motion ◽  
Motion Simulation ◽  
Linear Quadratic ◽  
Distributed Consensus ◽  
Consensus Control ◽  
Formation Pattern ◽  
The Given

In this study, the distributed consensus control and model predictive control (MPC)-based formation strategies for quadrotors are proposed. First, the formation-control problem is decoupled into horizontal and vertical motions. The distributed consensus control and MPC-based formation strategy are implemented in the follower’s horizontal formation control. In the horizontal motion, the leader tracks the given waypoints by simply using the MPC, and generates the desired formation trajectory for each follower based on its flight information, predicted trajectory, and the given formation pattern. On the other hand, the followers carry out the formation flight based on the proposed horizontal formation strategy and the desired formation trajectories generated by the leader. In the vertical motion, formation control is carried out using only the MPC for both the leader and the follower. Likewise, the leader tracks the desired altitude/climb rate and generates the desired formation trajectories for the followers, and the followers track the desired formation trajectories generated by the leader using the MPC. The optimization problem considered in the MPC differs for the horizontal and vertical motions. The problem is formulated as a quadratic programming (QP) problem for the horizontal motion, and as a linear quadratic tracker (LQT) for the vertical motion. Simulation of a comprehensive maneuver was carried out under a Matlab/Simulink environment to examine the performance of the proposed formation strategies.

Granitoid complexes and the Archean tectonic record in the southern part of northwestern Ontario

1979 ◽  
Vol 16 (10) ◽  
pp. 1965-1977 ◽  
Author(s):  
W. M. Schwerdtner ◽  
D. Stone ◽  
K. Osadetz ◽  
J. Morgan ◽  
G. M. Stott
Keyword(s):  
Large Scale ◽  
Vertical Motion ◽  
Strike Slip ◽  
Horizontal Motion ◽  
Tectonic Deformation ◽  
Northwestern Ontario ◽  
Greenstone Belts ◽  
Second Period ◽  
Transcurrent Faults ◽  
Regional Compression

Two principal, possibly overlapping, periods of tectonic deformation can be distinguished in the Archean of northwestern Ontario, a period of dominantly vertical-motion tectonics and a period of dominantly horizontal-motion tectonics. Gigantic diapirs of foliated to gneissic tonalite–granodiorite developed during the first period and appear to be responsible for the gross structure of, and the major folds within, the metavolcanic–metasedimentary masses ("greenstone belts"). These diapirs are most likely due to mechanical remobilization of early tabular batholiths which originally intruded the oldest supracrustal rocks presently exposed. Later massive to foliated, dioritic to granitic plutons that vary from concordant, crescentic plutons to partly discordant plutons of various shapes and sizes were emplaced into the diapirs.The second period of tectonic deformation is characterized by large-scale dextral shearing and the development of major transcurrent faults under northwesterly regional compression. The strike-slip motions of this period outlasted the late plutonism, and led to the development of mylonitic zones which cut all Archean granitoid plutons.

String Instabilities in Formation Flight: Limitations Due to Integral Constraints

2004 ◽  
Vol 126 (4) ◽  
pp. 873-879 ◽  
Author(s):  
P. Seiler ◽  
A. Pant ◽  
J. K. Hedrick
Keyword(s):  
Flight Control ◽  
Formation Control ◽  
Energy Savings ◽  
Feedback Loops ◽  
Formation Flight ◽  
Control Laws ◽  
Aerodynamic Efficiency ◽  
Preceding Vehicle ◽  
Specific Control ◽  
Theoretical Results

Flying in formation improves aerodynamic efficiency and, consequently, leads to an energy savings. One strategy for formation control is to follow the preceding vehicle. Many researchers have shown through simulation results and analysis of specific control laws that this strategy leads to amplification of disturbances as they propagate through the formation. This effect is known as string instability. In this paper, we show that string instability is due to a fundamental constraint on coupled feedback loops. The tradeoffs imposed by this constraint imply that predecessor following is an inherently poor strategy for formation flight control. Finally, we present two examples that demonstrate the theoretical results.

Motion Characteristics of Composite-Type Sea Cage under Pure Wave

2012 ◽  
Vol 490-495 ◽  
pp. 3405-3409
Author(s):  
Chun Liu Li ◽  
Yun Peng Zhao
Keyword(s):  
Experimental Data ◽  
Wave Height ◽  
Vertical Motion ◽  
Data Acquisition System ◽  
Horizontal Motion ◽  
Wave Condition ◽  
Composite Type ◽  
Motion Range ◽  
Motion Characteristics ◽  
Sea Cage

To study motion range changes with wave condition and motion relationship between cages, physical model experiments were carried out. The authors designed 2 models of composite-type sea cages. Experimental data obtained by the CCD data acquisition system. The experiment results showed that 1.in the same period, horizontal motion range,vertical motion range and inclination changes of float collar increase with wave height; 2.In the same wave height, horizontal motion range of the float collar increases with period; 3.The laws between vertical motion and period are not obvious 4.The laws between inclination changes and period are not obvious 5.Motion range of the first cage along the direction of waves is less than other cages.

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.

Multivariable adaptive distributed leader-follower flight control for multiple UAVs formation

2017 ◽  
Vol 121 (1241) ◽  
pp. 877-900 ◽  
Author(s):  
Y. Xu ◽  
Z. Zhen
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Flight Control ◽  
Control Strategy ◽  
Formation Control ◽  
Parametric Uncertainty ◽  
Lyapunov Theory ◽  
Formation Flight ◽  
Flight Control System ◽  
Multiple Uavs

ABSTRACTThe Unmanned Aerial Vehicles (UAVs) become more and more popular due to various potential application fields. This paper studies the distributed leader-follower formation flight control problem of multiple UAVs with uncertain parameters for both the leader and followers. This problem has not been addressed in the literature. Most of the existing literature considers the leader-follower formation control strategy with parametric uncertainty for the followers. However, they do not take the leader parametric uncertainty into account. Meanwhile, the distributed control strategy depends on less information interactions and is more likely to avoid information conflict. The dynamic model of the UAVs is established based on the aerodynamic parameters. The establishment of the topology structure between a collection of UAVs is based on the algebraic graph theory. To handle the parametric uncertainty of the UAVs dynamics, a multivariable model reference adaptive control (MRAC) method is addressed to design the control law, which enables follower UAVs to track the leader UAV. The stability of the formation flight control system is proved by the Lyapunov theory. Simulation results show that the proposed distributed adaptive leader-following formation flight control system has stronger robustness and adaptivity than the fixed control system, as well as the existing adaptive control system.

scholarly journals Collision Avoidance in Fixed-Wing UAV Formation Flight Based on a Consensus Control Algorithm

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 43672-43682 ◽  
Author(s):  
Jialong Zhang ◽  
Jianguo Yan ◽  
Pu Zhang ◽  
Xiangjie Kong
Keyword(s):  
Collision Avoidance ◽  
Control Algorithm ◽  
Formation Flight ◽  
Consensus Control

Two Uses of Computers in Science Teaching: Horizontal Motion Simulation and Simulation Building

1992 ◽  
pp. 429-443 ◽  
Author(s):  
Magnus Moar ◽  
Fiona Spensley ◽  
Tim O’Shea ◽  
Ronnie Singer ◽  
Sara Hennessey ◽  
...  
Keyword(s):  
Science Teaching ◽  
Horizontal Motion ◽  
Motion Simulation
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