Pigeon-Inspired Circular Formation Control for Multi-UAV System with Limited Target Information

2021 ◽  
Vol 01 (01) ◽  
pp. 2150004
Author(s):  
Mengzhen Huo ◽  
Haibin Duan ◽  
Yanming Fan
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Control Strategies ◽  
Angular Speed ◽  
Angular Distance ◽  
Lyapunov Theory ◽  
Target Information ◽  
Circular Distribution ◽  
Type Method ◽  
Aerial Vehicle

The problem of cooperative circular formation with limited target information for multiple Unmanned Aerial Vehicle (UAV) system is addressed in this paper. A pigeon-inspired circular formation control method is proposed to form the desired circular distribution in a plane based on the intelligent pigeon behavior during hovering. To reach the goal of prescribed radius and angular distribution, the controller is designed consisting of a circular movement part and a formation distribution part. Therein, the circular movement part is designed to make each UAV rotate around the specified circle at the same angular speed only using the relative position between the UAV and the target. The formation distribution part could adjust the angular distance between each UAV and its neighbors with the jointly connected network to reduce communication cost. To smooth the speed variation, nonlinear PID-type method is delivered throughout the evolution of the system. The convergence analysis of the proposed control protocol is presented using Lyapunov theory and graph tools. The effectiveness of the proposed control strategies is demonstrated through numerical simulations.

scholarly journals Distributed Formation Control for Multiple Quadrotor Based on Multi-Agent Theory and Disturbance Observer

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Xiaohua Zhang ◽  
Junli Gao ◽  
Wenfeng Zhang ◽  
Tao Zeng ◽  
Liping Ye
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Control Method ◽  
Homogeneous System ◽  
Lyapunov Theory ◽  
Uncertain Parameters ◽  
External Disturbances ◽  
Agent Theory ◽  
Time Control ◽  
Multi Agent

This paper presents the disturbance observers-based distributed formation control for multiple quadrotor aircrafts with external disturbances and uncertain parameters using multi-agent theory and finite-time control method. Firstly, the finite-time disturbance observers are proposed to handle the external disturbances on the position-loop. Similarly, when there are both the uncertain parameters and external disturbances on the attitude-loop, the finite-time disturbance observers are designed to estimate the total lump disturbances. By skillfully using homogeneous system theory, Lyapunov theory, and multi-agent theory, the distributed formation control algorithms are developed. Finally, through simulations, the efficiency of the proposed method (including the convergence rate and disturbance rejection) is verified.

scholarly journals Formation Control Algorithm of Agents Based on Earth Mover’s Distance

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Bangquan Liu ◽  
Shaojun Zhu ◽  
Dechao Sun ◽  
Yun Meng ◽  
Guangyu Zhou ◽  
...  
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Group Formation ◽  
Voronoi Tessellation ◽  
Motion Path ◽  
Earth Mover’S Distance ◽  
Vehicle Performance ◽  
Earth Mover's Distance ◽  
Efficient Calculation ◽  
Aerial Vehicle

Massive sport, such as unmanned aerial vehicle performance, often needs fast and efficient calculation of formation morphing and individual path planning. This paper introduces a novel fast formation control method of a crowd. First, we get the agents’ location in a 2D polygon with centroidal Voronoi tessellation and L-BFGS techniques. Then, we transform crowd formation shapes with a global shortest motion path pair assignment using earth mover’s distance algorithm. Finally, the repulsing force between agents and obstacles is calculated based on the recursive velocity observer method control agents’ motion. Extensive experimental results show the effectiveness and usefulness of our algorithm in 2D group formation transformation.

scholarly journals Deployment of Hub-Spoke Tethered Satellite Formation with Adaptive Sliding Mode Tension Control

2021 ◽  
Author(s):  
Chenguang Liu ◽  
Wei Wang ◽  
Junjie Kang ◽  
Zheng H. Zhu
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Control Strategies ◽  
Lyapunov Theory ◽  
Tension Control ◽  
Terminal Sliding Mode ◽  
Tethered Satellite ◽  
Satellite Formation ◽  
Mode Control

Abstract This paper studies the deployment control of a spinning hub-spoke tethered satellite formation, which is a challenging issue due to the strong nonlinear coupling between the hub and sub-satellites, and the underactuated nature of the system if no thrust is used for control. The mathematical model of the formation system is established based on the assumption of rigid body of the hub, inextensible tether, and lumped masses of the sub-satellites. Two novel formation deployment controllers are proposed based on tension control and hybrid tension-thrust control strategies, where underactuated sliding mode control and nonsingular terminal sliding mode control method are used, respectively. The adaptive control theory is adopted to estimate the unknown upper bound of the gravitational perturbation caused by the rotation of the system around the hub. It can be proven by the Lyapunov theory that the close-loop systems have bounded and asymptotic stability under these two deployment controllers, respectively. Finally, numerical simulations are conducted to validate the effectiveness and robustness of the proposed controllers.

Control System Design and Implementation of a Quadrotor Unmanned Aerial Vehicle

2012 ◽  
Vol 466-467 ◽  
pp. 749-753
Author(s):  
De Xin Xu ◽  
Guang Chun Li ◽  
Lu Wang
Keyword(s):  
Control System ◽  
Embedded System ◽  
Flight Control ◽  
Control Method ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Control Strategies ◽  
Flight Control System ◽  
Computational Performance ◽  
Aerial Vehicle

In this paper, a method of embedded system with multi-processor is proposed, so as to satisfy the requirement of strong real-time property, high computational performance and multi-task function of the flight control system. In addition, in order to solve the problems of unknown aerodynamic disturbance and weight uncertainties during flight, a hybrid control method based on sliding mode control (SMC) and model referenced adaptive control (MRAC) is proposed. Through the Lyapunov stability analysis, it’s proved that the controller is stable. Various simulations were performed and several experiments on the quadrotor UAV validate the control strategies.

Infections of bean plant and field soil are linked to region, root rot pathogen, and agro-ecosystem

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
B. Naseri ◽  
M. Gheitury ◽  
M. Veisi
Keyword(s):  
Root Rot ◽  
Multivariate Analyses ◽  
Control Method ◽  
Control Strategies ◽  
Fusarium Species ◽  
Macrophomina Phaseolina ◽  
Soil Variables ◽  
Plant Infection ◽  
Pathogen Prevalence ◽  
Soil Infestation

SummaryUnderstanding pathogen-agrosystem interaction is particularly essential when applying a control method to minimize pathogen prevalence prior to plant infection. To meet this requirement, frequency of major root rot pathogens isolated from bean root and seed, and their soil populations were examined in farmers’ fields. Multivariate analyses evidenced more frequent isolations of Fusarium solani and Rhizoctonia solani from root and seed compared to Macrophomina phaseolina and Fusarium oxysporum. Two Fusarium species had denser soil populations than R. solani and M. phaseolina. More frequent isolations of pathogens were detected in root and seed collected from Abhar and Khodabandeh compared to Kheirabad region. Agronomic and soil variables corresponded less closely to root infections compared to soil infestation and seed infections. Bean market class, herbicide application, and planting depth were linked to root, seed and soil infestations. Such information provides a basis for increased confidence in choosing appropriate control strategies for a pathogen and region in sustainable agriculture.

Improved Oxygen Dissolution Control for Oxygen Activated Sludge

1988 ◽  
Vol 20 (4-5) ◽  
pp. 101-108 ◽  
Author(s):  
R. C. Clifft ◽  
M. T. Garrett
Keyword(s):  
Activated Sludge ◽  
Control Method ◽  
Control Strategies ◽  
Cost Savings ◽  
Utilization Efficiency ◽  
Oxygen Production ◽  
Oxygen Utilization ◽  
Potential Cost ◽  
Oxygen Dissolution ◽  
The City

Now that oxygen production facilities can be controlled to match the requirements of the dissolution system, improved oxygen dissolution control can result in significant cost savings for oxygen activated sludge plants. This paper examines the potential cost savings of the vacuum exhaust control (VEC) strategy for the City of Houston, Texas 69th Street Treatment Complex. The VEC strategy involves operating a closed-tank reactor slightly below atmospheric pressure and using an exhaust apparatus to remove gas from the last stage of the reactor. Computer simulations for one carbonaceous reactor at the 69th Street Complex are presented for the VEC and conventional control strategies. At 80% of design loading the VEC strategy was found to provide an oxygen utilization efficiency of 94.9% as compared to 77.0% for the conventional control method. At design capacity the oxygen utilization efficiency for VEC and conventional control was found to be 92.3% and 79.5%, respectively. Based on the expected turn-down capability of Houston's oxygen production faciilities, the simulations indicate that the VEC strategy will more than double the possible cost savings of the conventional control method.

scholarly journals A Variable Parameter Ambient Vibration Control Method Based on Quasi-Zero Stiffness in Robotic Drilling Systems

Machines ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 67
Author(s):  
Laixi Zhang ◽  
Chenming Zhao ◽  
Feng Qian ◽  
Jaspreet Singh Dhupia ◽  
Mingliang Wu
Keyword(s):  
Vibration Control ◽  
Vibration Isolation ◽  
Control Method ◽  
Control Strategies ◽  
Equations Of Motion ◽  
Variable Parameter ◽  
Harmonic Balance Method ◽  
Variable Stiffness ◽  
Ambient Vibration ◽  
Robotic Drilling

Vibrations in the aircraft assembly building will affect the precision of the robotic drilling system. A variable stiffness and damping semiactive vibration control mechanism with quasi-zero stiffness characteristics is developed. The quasi-zero stiffness of the mechanism is realized by the parallel connection of four vertically arranged bearing springs and two symmetrical horizontally arranged negative stiffness elements. Firstly, the quasi-zero stiffness parameters of the mechanism at the static equilibrium position are obtained through analysis. Secondly, the harmonic balance method is used to deal with the differential equations of motion. The effects of every parameter on the displacement transmissibility are analyzed, and the variable parameter control strategies are proposed. Finally, the system responses of the passive and semiactive vibration isolation mechanisms to the segmental variable frequency excitations are compared through virtual prototype experiments. The results show that the frequency range of vibration isolation is widened, and the stability of the vibration control system is effectively improved without resonance through the semiactive vibration control method. It is of innovative significance for ambient vibration control in robotic drilling systems.

scholarly journals Formation Control of Unmanned Vessels with Saturation Constraint and Extended State Observation

2021 ◽  
Vol 9 (7) ◽  
pp. 772
Author(s):  
Huixuan Fu ◽  
Shichuan Wang ◽  
Yan Ji ◽  
Yuchao Wang
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Tracking Error ◽  
External Environment ◽  
Control Force ◽  
Extended State ◽  
Parameter Perturbation ◽  
State Observation ◽  
Saturation Constraint ◽  
The Stability

This paper addressed the formation control problem of surface unmanned vessels with model uncertainty, parameter perturbation, and unknown environmental disturbances. A formation control method based on the control force saturation constraint and the extended state observer (ESO) was proposed. Compared with the control methods which only consider the disturbances from external environment, the method proposed in this paper took model uncertainties, parameter perturbation, and external environment disturbances as the compound disturbances, and the ESO was used to estimate and compensate for the disturbances, which improved the anti-disturbance performance of the controller. The formation controller was designed with the virtual leader strategy, and backstepping technique was designed with saturation constraint (SC) function to avoid the lack of force of the actuator. The stability of the closed-loop system was analyzed with the Lyapunov method, and it was proved that the whole system is uniformly and ultimately bounded. The tracking error can converge to arbitrarily small by choosing reasonable controller parameters. The comparison and analysis of simulation experiments showed that the controller designed in this paper had strong anti-disturbance and anti-saturation performance to the compound disturbances of vessels and can effectively complete the formation control.

Sampled-data extended state observer-based backstepping control of two-link flexible manipulator

2019 ◽  
Vol 41 (13) ◽  
pp. 3581-3599 ◽  
Author(s):  
Umesh Kumar Sahu ◽  
Bidyadhar Subudhi ◽  
Dipti Patra
Keyword(s):  
Control Strategies ◽  
Estimation Error ◽  
Experimental Studies ◽  
State Observer ◽  
Lyapunov Theory ◽  
Extended State Observer ◽  
Flexible Manipulator ◽  
Sampled Data ◽  
Extended State ◽  
Model Uncertainties

Currently, space robots such as planetary robots and flexible-link manipulators (FLMs) are finding specific applications to reduce the cost of launching. However, the structural flexible nature of their arms and joints leads to errors in tip positioning owing to tip deflection. The internal model uncertainties and disturbance are the key challenges in the development of control strategies for tip-tracking of FLMs. To deal with these challenges, we design a tip-tracking controller for a two-link flexible manipulator (TLFM) by developing a sampled-data extended state observer (SD-ESO). It is designed to reconstruct uncertain parameters for accurate tip-tracking control of a TLFM. Finally, a backstepping (BS) controller is designed to attenuate the estimation error and other bounded disturbances. Convergence and stability of the proposed control system are investigated by using Lyapunov theory. The benefits (control performance and robustness) of the proposed SD-ESO-based BS controller are compared with other similar approaches by pursuing both simulation and experimental studies. It is observed from the results obtained that SD-ESO-based BS Controller effectively compensates the deviation in tip-tracking performance of TLFM due to non-minimum phase behavior and model uncertainties with an improved transient response.

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