MAV Circular Leader-Follower Formation Control Utilizing Mass-Spring-Damper with Centripetal Force Consideration

2013 ◽  
Vol 25 (1) ◽  
pp. 240-251 ◽  
Author(s):  
Mohammad Fadhil Bin Abas ◽  
◽  
Syaril Azrad Md. Ali ◽  
Daisuke Iwakura ◽  
Yuze Song ◽  
...  
Keyword(s):  
Shape Control ◽  
Formation Control ◽  
Past Research ◽  
Experimental Result ◽  
Control Problems ◽  
Centripetal Force ◽  
Virtual Mass ◽  
Migrating Birds ◽  
Mass Spring ◽  
Leader Change

Past research has dealt with numerous formation control problems related to leader-follower formation. In the move towards bio-inspired formation, this paper introduces flock formation based on migrating birds. Flock formation development can be subdivided into shape control, shape entrance control and leader change control. Shape control or keeping is the first part of development. Shape keeping in this paper utilizes a virtual spring and damper model to interconnect all the Micro Aerial Vehicles (MAVs) in the formation. Besides that, the algorithm also considers the centripetal force acting on each MAV since a circular/curve motion is being evaluated. The circular leader-follower formation control of multiple MAVs using virtual mass-spring-damper system with the consideration of centripetal force for flock formation shape keeping has been successfully designed and implemented. Based on the experimental result, it is seen that the performance of the algorithm is reliable.

scholarly journals UAV Formation Shape Control via Decentralized Markov Decision Processes

Algorithms ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 91
Author(s):  
Md Ali Azam ◽  
Hans D. Mittelmann ◽  
Shankarachary Ragi
Keyword(s):  
Control Problem ◽  
Shape Control ◽  
Formation Control ◽  
Three Dimensional ◽  
Geographical Region ◽  
Dynamic Programming Method ◽  
Theoretic Approach ◽  
Control Approach ◽  
Uav Swarm ◽  
Markov Decision

In this paper, we present a decentralized unmanned aerial vehicle (UAV) swarm formation control approach based on a decision theoretic approach. Specifically, we pose the UAV swarm motion control problem as a decentralized Markov decision process (Dec-MDP). Here, the goal is to drive the UAV swarm from an initial geographical region to another geographical region where the swarm must form a three-dimensional shape (e.g., surface of a sphere). As most decision-theoretic formulations suffer from the curse of dimensionality, we adapt an existing fast approximate dynamic programming method called nominal belief-state optimization (NBO) to approximately solve the formation control problem. We perform numerical studies in MATLAB to validate the performance of the above control algorithms.

A Geometric Approach to Dynamically Feasible, Real-Time Formation Control

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
D. H. A. Maithripala ◽  
D. H. S. Maithripala ◽  
S. Jayasuriya
Keyword(s):  
Real Time ◽  
Wide Class ◽  
Formation Control ◽  
Geometric Approach ◽  
Control Problems ◽  
Multi Agent Systems ◽  
Individual Agent ◽  
Planning Algorithm ◽  
Explicit Consideration ◽  
Multi Agent

We propose a framework for synthesizing real-time trajectories for a wide class of coordinating multi-agent systems. The class of problems considered is characterized by the ability to decompose a given formation objective into an equivalent set of lower dimensional problems. These include the so called radar deception problem and the formation control problems that fall under formation keeping and/or formation reconfiguration tasks. The decomposition makes the approach scalable, computationally economical, and decentralized. Most importantly, the designed trajectories are dynamically feasible, meaning that they maintain the formation while satisfying the nonholonomic and saturation type velocity and acceleration constraints of each individual agent. The main contributions of this paper are (i) explicit consideration of second order dynamics for agents, (ii) explicit consideration of nonholonomic and saturation type velocity and acceleration constraints, (iii) unification of a wide class of formation control problems, and (iv) development of a real-time, distributed, scalable, computationally economical motion planning algorithm.

scholarly journals Adaptive-Neural-Network-Based Shape Control for a Swarm of Robots

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Xuejing Lan ◽  
Zhenghao Wu ◽  
Wenbiao Xu ◽  
Guiyun Liu
Keyword(s):  
Neural Network ◽  
Nonlinear Dynamics ◽  
Shape Control ◽  
Formation Control ◽  
Adaptive Neural Network ◽  
Multirobot System ◽  
Control Scheme ◽  
Narrow Space ◽  
The Stability ◽  
Unknown Nonlinear Dynamics

This paper considers the region-based formation control for a swarm of robots with unknown nonlinear dynamics and disturbances. An adaptive neural network is designed to approximate the unknown nonlinear dynamics, and the desired formation shape is achieved by designing appropriate potential functions. Moreover, the collision avoidance, velocity consensus, and region tracking are all considered in the controller. The stability of the multirobot system has been demonstrated based on the Lyapunov theorem. Finally, three numerical simulations show the effectiveness of the proposed formation control scheme to deal with the narrow space, loss of robots, and formation merging problems.

Energy-Balanced Leader-Switching Policy for Formation Rotation Control of Multi-Agent Systems Inspired by Bird Flocks

2019 ◽  
Author(s):  
Corey Dotson ◽  
Geronimo Macias ◽  
Kooktae Lee
Keyword(s):  
Formation Control ◽  
Consensus Algorithm ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Switching Algorithm ◽  
Multi Agent ◽  
Migrating Birds ◽  
Switching Method ◽  
Rotation Strategy ◽  
Flocking Behavior

Abstract This paper addresses an energy-balanced leader-switching policy for formation rotation control of multi-agent systems inspired by bird flocks. Birds that flock in V-formation with a leader rotation strategy are able to travel longer distances due to reduced drag and therefore less energy expenditure. This flocking behavior with a leader rotation will result in more conservation of overall energy and will be particularly beneficial to migrating birds that should fly long distances without landing. In this paper, we propose an energy-balanced leader-switching policy inspired by this bird flocking behavior in order to increase the flight range for multi-agent systems. The formation control of multi-agent systems is achieved by the consensus algorithm, which is fully decentralized through the use of information exchanges between agents. The proposed leader-switching method is not necessarily incorporated with the consensus dynamics and thus, the leader-switching algorithm can be decoupled from formation control dynamics. Therefore, the proposed method can simplify the leader-switching algorithm, making it easy to implement. Moreover, we propose the analytic flight distance based on the energy consumption model for each agent. To test the validity of the developed method, several simulation results are presented.

scholarly journals Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Xiaofeng Chai ◽  
Qing Wang ◽  
Yao Yu ◽  
Changyin Sun
Keyword(s):  
Stability Problem ◽  
Formation Control ◽  
Directed Network ◽  
Control Problems ◽  
Time Varying ◽  
Robust Controller ◽  
Nonlinear Uncertainties ◽  
The Stability ◽  
High Order Time ◽  
Time Invariant

Time-varying output formation control problems for high-order time-invariant swarm systems are studied with nonlinear uncertainties and directed network topology in this paper. A robust controller which consists of a nominal controller and a robust compensator is applied to achieve formation control. The nominal controller based on the output feedback is designed to achieve desired time-varying formation properties for the nominal system. And the robust compensator based on the robust signal compensator technology is constructed to restrain nonlinear uncertainties. The time-varying formation problem is transformed into the stability problem. And the formation errors can be arbitrarily small with expected convergence rate. Numerical examples are provided to illustrate the effectiveness of the proposed strategy.

scholarly journals A New Type of Magnetic Actuator Capable of Wall-Climbing Movement Using Inertia Force

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
H. Yaguchi ◽  
S. Sakuma ◽  
T. Kato
Keyword(s):  
Permanent Magnets ◽  
Resonance Energy ◽  
Experimental Result ◽  
Inertia Force ◽  
Magnetic Actuator ◽  
Function Generator ◽  
Mass Spring Model ◽  
New Type ◽  
The Difference ◽  
Mass Spring

This paper proposes a new type of a magnetic actuator that operates on a resonance energy of a mass-spring model by using an electromagnetic force. The magnetic actuator is moved by the difference in an inertia force during one period of vibration. Experimental result demonstrates that a horizontal speed of the magnetic actuator was 7.4 mm/s with load mass of 50 g. We considered a method of a cable-free movement of the actuator by using two iron rails and four permanent magnets. The magnetic actuator is able to move stably a ceiling plane and a wall plane. This actuator is able to move on the plane of the magnetic materials only a function generator and a power amplifier.

Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles

2013 ◽  
Vol 25 (1) ◽  
pp. 60-71 ◽  
Author(s):  
Mohammad Fadhil Bin Abas ◽  
◽  
Dwi Pebrianti ◽  
Syaril Azrad Md. Ali ◽  
Daisuke Iwakura ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Circular Motion ◽  
Experimental Result ◽  
Distance Error ◽  
Mode Control ◽  
Aerial Vehicles

This paper describes the leader-follower formation control using two different approaches which are the PID leader-follower formation control (PID-LFFC) and Sliding Mode Control leader-follower formation control (SMC-LFFC). The strategy used in this paper is to apply the control algorithm for conducting a circular motion. This task is known to be important since a trajectory is a combination of movement. This movement can be divided into straight or curve lines. Curves lines or circular motion is essential for obstacle avoidance and also for turning movement. The curves lines or circular motion gives lower trajectory distance than only using straight or angled lines. Based on the experimental result, it is seen that the performance of the algorithm is reliable. When using SMC-LFFC over the PID-LFFC, the leader to follower distance error is 30% smaller and has a high 70% occurrence at 0 errors. Additionally, this research is known to be the first conducted in Japan.

An idea of distributed parameter control for scramjet engines

2007 ◽  
Vol 111 (1126) ◽  
pp. 787-796 ◽  
Author(s):  
Y. Daren ◽  
C. Tao ◽  
B. Wen
Keyword(s):  
Shape Control ◽  
Space Dimension ◽  
Distributed Parameter ◽  
Control Problems ◽  
Parameter Control ◽  
Distributed Parameter Control ◽  
Wide Range ◽  
Scramjet Engine ◽  
Scramjet Engines ◽  
Wall Injection

AbstractScramjet engines are used under extreme temperatures and with wide range of Mach numbers from 3 to 8 or higher and have shown different control properties from other airbreathing engines. New control problems involving distributed parameter control have been found concerning investigations of the control of scramjet engines whose physical states are spatially interacted and whose governing equations are partial differential equations. The work of this paper is based on the application of distributed parameter control conception to study the control problems of scramjet engines with the aim of achieving the desirable design properties and increasing control reliability. A new control idea based on shape control theory is put forward to realise the distributed parameter control of scramjet engines with the preconditions of proper space dimension and frequency-domain simplification. Simulation results and theoretic analysis for an axisymmetric, wall-injection scramjet engine show the feasibility and validity of the control idea.

scholarly journals Practical Formation Control for Multiple Anonymous Robots System with Unknown Nonlinear Disturbances

2021 ◽  
Vol 11 (19) ◽  
pp. 9170
Author(s):  
Peng Xu ◽  
Jin Tao ◽  
Minyi Xu ◽  
Guangming Xie
Keyword(s):  
Theoretical Analysis ◽  
Mobile Robots ◽  
Distributed Control ◽  
Formation Control ◽  
Control Method ◽  
Control Law ◽  
Control Problems ◽  
Moving Target ◽  
Whole Process ◽  
Nonlinear Disturbances

This paper mainly investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances on a plane, in which all robots can asymptotically converge to any formation patterns without collision, and maintain any required relative distance with neighboring robots. To solve this problem, all robots are modeled as kinematic points and can only acquire information from other robots and their targets. Furthermore, a flexible distributed control law is designed to solve the formation problem while no collisions between any robots can be guaranteed during the whole process. The outstanding feature of the proposed control method is that it can force all mobile robots to form not only uniform circle formations but also non-uniform and non-circular formations with moving target centers. At last, both theoretical analysis and numerical simulations show the feasibility of the proposed control law.

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