Cooperative formation control strategy in heterogeneous network with bounded acceleration

2017 ◽  
Author(s):  
Arijit Sen ◽  
Soumya Ranjan Sahoo ◽  
Mangal Kothari
Keyword(s):  
Control Strategy ◽  
Heterogeneous Network ◽  
Formation Control

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 Edge-weighted consensus-based formation control strategy with collision avoidance

Robotica ◽  
2014 ◽  
Vol 33 (2) ◽  
pp. 332-347 ◽  
Author(s):  
Riccardo Falconi ◽  
Lorenzo Sabattini ◽  
Cristian Secchi ◽  
Cesare Fantuzzi ◽  
Claudio Melchiorri
Keyword(s):  
Mobile Robots ◽  
Collision Avoidance ◽  
Obstacle Avoidance ◽  
Control Strategy ◽  
Formation Control ◽  
Weighted Graphs ◽  
Wheeled Robots ◽  
Unknown Environments ◽  
Multi Robot

SUMMARYIn this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. Moreover, results of simulations and experiments on real robots are provided for validation purposes.

The Null Space Based Cooperative Formation Control for UAVs Swarm

2013 ◽  
Vol 341-342 ◽  
pp. 824-829
Author(s):  
Shi You Dong ◽  
Xiao Ping Zhu ◽  
Guo Qing Long
Keyword(s):  
Control Strategy ◽  
Formation Control ◽  
Local Minimum ◽  
Null Space ◽  
Potential Functions ◽  
Good Effect ◽  
Artificial Potential Field ◽  
Minimum Problem ◽  
Control Approach ◽  
Local Minimum Problem

In this paper, the formation problem of UAVs swarm is studied based on a combination of the potential functions. On the basis of mathematical models of the traditional artificial potential field,a new formation potential function is proposed. The potential functions is merged using null space control strategy which is capable of dealing with conflicts among elementary potential functions and avoid local minimum problem. The results achieved by computer simulations suggest that the control approach can produces good effect.

A novel communication-aware formation control strategy for dynamical multi-agent systems

2015 ◽  
Vol 352 (9) ◽  
pp. 3701-3715 ◽  
Author(s):  
Heng Li ◽  
Jun Peng ◽  
Weirong Liu ◽  
Kai Gao ◽  
Zhiwu Huang
Keyword(s):  
Control Strategy ◽  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent

Consensus Based Formation Control of Multiple Small Rotary-Wing UAVs

2011 ◽  
Author(s):  
Yaojin Xu ◽  
Long Di ◽  
YangQuan Chen
Keyword(s):  
Control Strategy ◽  
Formation Control ◽  
Algebraic Theory ◽  
Nonholonomic Constraints ◽  
Backstepping Technique ◽  
Strongly Connected ◽  
Multi Agent ◽  
Rotary Wing ◽  
Multi Uav ◽  
Stable Formation

Small unmanned aerial vehicles (UAVs) can provide facilities in various applications. Compared with single UAV system, small UAVs based cooperative UAV system can bring advantages such as higher efficiency and safety. Therefore, it is necessary to design a robust multi-agent cooperative flight controller to coordinate a group of small UAVs for stable formation flights. This paper investigates the problem of consensus-based formation control for a multi-UAV system. Firstly, We choose a simplified model with nonholonomic constraints for UAV dynamics. Secondly, using the algebraic theory and backstepping technique, we design consensus protocols for multi-UAV systems under the strongly connected topology. Then based on that, we propose a multi-UAVfromation control strategy. Finally, we extend our results to the directed topology case which is still effective by simulation.

Sign in / Sign up

Export Citation Format

Share Document