scholarly journals Time-varying formation control of multiple quad-rotors based on ellipsoid

2021 ◽  
Vol 18 (2) ◽  
pp. 172988142110109
Author(s):  
Kecai Cao ◽  
Debao Xu
Keyword(s):  
Elliptic Equation ◽  
Formation Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Time Varying ◽  
Tuning Parameters ◽  
Model Control ◽  
Time Varying Parameters ◽  
Position Controller ◽  
Three Dimensional Space

Time-varying formation control problem for a group of multiple quad-rotors has been considered in this article with the help of ellipsoid. Firstly, an elliptic equation with time-varying parameters has been firstly introduced to describe the desired formation patterns for multiple quad-rotors in three-dimensional space. Then position controller and attitude controller are constructed using the method of sliding model control, respectively. Through tuning parameters of the elliptic equation, time-varying formation control of multiple quad-rotors has been realized using the controllers proposed in this article where smoothing transition between rigid formations has been guaranteed. Simulation results for formation control of quad-rotors that perform translation, scaling, and rotating actions have illustrated effectiveness of the time-varying formation controller that proposed in this article.

Distributed Formation Control of UAVs for Circumnavigating a Moving Target in Three-Dimensional Space

2021 ◽  
Vol 01 (03) ◽  
Author(s):  
Yanhong Luo ◽  
Ao Bai ◽  
Huaguang Zhang
Keyword(s):  
Feedback Linearization ◽  
Formation Control ◽  
Control Method ◽  
Dimensional Space ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Moving Target ◽  
Dynamic Feedback ◽  
Space Angle ◽  
Three Dimensional Space

In this paper, a novel formation control strategy is proposed to address the target tracking and circumnavigating problem of multi-UAV formation. First, two sets of definitions, space angle definition and space vector definition, are presented in order to describe the flight state and construct the desired relative velocity. Then, the relative kinematic model between the UAV and the moving target is established. The distributed control law is constructed by using dynamic feedback linearization so as to realize the tracking and circumnavigating control with the desired velocity, circling radius and relative angular spacing. Next, the exponential stability of the closed-loop system is further guaranteed by properly choosing some corresponding parameters based on the Lyapunov method. Finally, the numerical simulation is carried out to verify the effectiveness of the proposed control method.

Formation control for multi-UAVs systems based on Kullback-Leibler divergence

2019 ◽  
Vol 42 (3) ◽  
pp. 598-603
Author(s):  
Wei Liao ◽  
Xiaohui Wei ◽  
Jizhou Lai ◽  
Hao Sun
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Initial Conditions ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Initial Position ◽  
Probability Density Functions ◽  
Control Law ◽  
Leibler Divergence ◽  
Three Dimensional Space

This paper presents a formation control method for multi unmanned aerial vehicles (UAVs) systems. The first step is to design two probability density functions describing to the desired formation and current formation, respectively. Then, through minimizing the Kullback-Leibler divergence, this method is able to bring the UAVs to a desired formation and stabilizes the desired formation in all initial conditions except the case where a pair of UAVs are in the same initial position. The gradient of Kullback-Leibler divergence is calculated using Monte Carlo method, by means of which it is not necessary to preplan route for every UAV and to take extra measure to avoid collisions between any two UAVs during the motion. At the end of this paper, the proposed method is adopted to carry out to some numerical simulations in a two-dimensional space and a three-dimensional space, respectively, to illustrate the effectiveness of the method. Conclusions show that the formation of the UAVs can converge to the desired formation under the control law proposed in this paper.

scholarly journals Formation control of a leader–follower structure in three dimensional space using bearing measurements

Automatica ◽  
2021 ◽  
Vol 128 ◽  
pp. 109567
Author(s):  
Zhiqi Tang ◽  
Rita Cunha ◽  
Tarek Hamel ◽  
Carlos Silvestre
Keyword(s):  
Formation Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Three Dimensional Space

scholarly journals Terminal Impact Time Control Cooperative Guidance Law for UAVs under Time-Varying Velocity

Drones ◽  
2021 ◽  
Vol 5 (3) ◽  
pp. 100
Author(s):  
Zhanyuan Jiang ◽  
Jianquan Ge ◽  
Qiangqiang Xu ◽  
Tao Yang
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Time Varying ◽  
Two Dimensional ◽  
Impact Time ◽  
Finite Time Convergence ◽  
Guidance Law ◽  
Multiple Uavs ◽  
Cooperative Guidance ◽  
Three Dimensional Space

Aiming at the problem that multiple Unmanned Aerial Vehicles (UAVs) attack the stationary target cooperatively under time-varying velocity, the cooperative guidance law with finite time convergence on two-dimensional plan and the three-dimensional cooperative guidance laws with impact time constraint are designed separately in this paper. Firstly, based on the relative motion equation between UAV and target on two-dimensional plane, the time cooperative guidance model of multiple UAVs is established. Then based on the consistency theory and graph theory, a distributed time cooperative guidance law is designed, which can ensure that the impact time of all UAVs can be quickly consistent in a limited time. Next, the cooperative guidance problem is expanded from two-dimensional plane to three-dimensional space, the motion model between UAV and target in three-dimensional space is established and the expression of time-to-go estimation under time-varying velocity is derived. Finally, according to whether there is the communication among UAVs under the condition of time-varying velocity, a multiple UAVs three-dimensional cooperative guidance law based on desired impact time and a multiple UAVs three-dimensional cooperative guidance law based on coordination variables are designed, respectively. The simulation results show that the cooperative guidance law with finite time convergence on two-dimensional plan and the three-dimensional cooperative guidance law with impact time constraint proposed in this paper are effective, which can both realize the saturation attack under the time-varying velocity.

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