scholarly journals Pairwise Control In Unmanned Aerial Vehicle Swarm Flocking

2021 ◽  
Author(s):  
Jintao Liu ◽  
Ming He ◽  
Ling Luo ◽  
Qiang Liu ◽  
Mingguang Zou
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Data Exchange ◽  
Control Method ◽  
Sliding Mode ◽  
Extreme Case ◽  
Pairwise Distance ◽  
Natural Phenomenon ◽  
Aerial Vehicles ◽  
Distance Control ◽  
Flight Simulations

Abstract Inspired by the natural phenomenon that pair-bonded jackdaws fly together within a flock, a new cooperative model and control method with pairwise structure in the swarm flocking is proposed to perform proximity missions such as air refueling, data exchange and coordinated operations of two unmanned aerial vehicles in the swarm. A noval square-law error sliding mode surface and variable structure sliding mode controller are proposed, so that any two unmanned aerial vehicles in the swarm could converge to a specified relative distance. Based on this, the distributed control protocol is designed that integrates pairwise distance control and flocking control. It enables unmanned aerial vehicles to be paired in the swarm without disrupting the consensus of the entire swarm. Finally, two theorems are proved by Lyapunov stability theorem. The distance between paired unmanned aerial vehicles is exponentially convergent, and the swarm flocking is collision free. Swarm flight simulations based on particle motion model with number from 20 to 100 are respectively presented, as well as 10 unmanned aerial vehicles swarm flight simulations with quadrotor dynamics model. The simulation experiments have sufficiently verified the effectiveness and accuracy of the method. The results show that distance control could still be achieved in the extreme case that the paired unmanned aerial vehicles are at the farthest corners of the swarm.

scholarly journals Automated system for dispatching the movement of unmanned aerial vehicles with a distributed survey of flight tasks

2021 ◽  
Vol 30 (1) ◽  
pp. 728-738
Author(s):  
Dmitry Gura ◽  
Victor Rukhlinskiy ◽  
Valeriy Sharov ◽  
Anatoliy Bogoyavlenskiy
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Communication Systems ◽  
Data Exchange ◽  
Video Recording ◽  
Communication Technologies ◽  
Automated System ◽  
Military Industry ◽  
Communication Problems ◽  
Aerial Vehicles ◽  
The Military

Abstract Over the past decade, unmanned aerial vehicles (UAVs) have received increasing attention and are being used in the areas of harvesting, videotaping, and the military industry. In this article, the consideration is focused on areas where video recording is required for ground inspections. This paper describes modern communication technologies and systems that enable interaction and data exchange between UAVs and a ground control station (GCS). This article focuses on different architectures of communication systems, establishing the characteristics of each to identify the preferred architecture that does not require a significant consumption of resources and whose data transmission is reliable. A coherent architecture that includes multiple UAVs, wireless sensor networks, cellular networks, GCSs, and satellite network to duplicate communications for enhanced system security has been offered. Some reliability problems have been discussed, the solution of which was suggested to be a backup connection via satellite, i.e., a second connection. This study focused not only on the communication channels but also on the data exchanged between system components, indicating the purpose of their application. Some of the communication problems and shortcomings of various systems, as well as further focus areas and improvement recommendations were discussed.

Lyapunov vector-based formation tracking control for unmanned aerial vehicles with obstacle/collision avoidance

2019 ◽  
Vol 42 (5) ◽  
pp. 942-950
Author(s):  
Kai Chang ◽  
Dailiang Ma ◽  
Xingbin Han ◽  
Ning Liu ◽  
Pengpeng Zhao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Potential Field ◽  
Formation Control ◽  
Control Method ◽  
Spherical Surface ◽  
Moving Target ◽  
Local Optima ◽  
Formation Tracking ◽  
Aerial Vehicles ◽  
Repulsive Forces

This paper presents a formation control method to solve the moving target tracking problem for a swarm of unmanned aerial vehicles (UAVs). The formation is achieved by the artificial potential field with both attractive and repulsive forces, and each UAV in the swarm will be driven into a leader-centered spherical surface. The leader is controlled by the attractive force by the moving target, while the Lyapunov vectors drive the leader UAV to a fly-around circle of the target. Furthermore, the rotational vector-based potential field is applied to achieve the obstacle avoidance of UAVs with smooth trajectories and avoid the local optima problem. The efficiency of the developed control scheme is verified by numerical simulations in four scenarios.

scholarly journals Performance analysis of nonlinear observers applied to the fixed-wing unmanned aerial vehicles flight under decoupled-reduced model

2017 ◽  
Vol 9 (2) ◽  
pp. 111-123 ◽  
Author(s):  
Ricardo P Parada ◽  
A Tadeo Espinoza ◽  
Alejandro E Dzul ◽  
Francisco G Salas
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Flight Control ◽  
Sliding Mode ◽  
Reduced Model ◽  
Control Law ◽  
Extended State ◽  
Nonlinear Observers ◽  
Design And Implementation ◽  
Aerial Vehicles ◽  
Nonlinear Extended State Observer

In this paper, we present the design and implementation of two nonlinear observers: nonlinear extended state observer and sliding mode observer for estimating the pitch, yaw and roll angles and angular rates of a fixed-wing unmanned aerial vehicles system under a decoupled-reduced model in real flight experiments. A backstepping control law is designed for control in a decentralized way for altitude, yaw and roll of the airplane. This scheme allows us to test experimentally the feasibility of using the online estimated data from the observers in flight control, which is useful for increasing the robustness of the control and the safety of flight. Furthermore, a comparative analysis of the performance of both nonlinear observers is conducted.

scholarly journals The Influence of Ultrashort Electromagnetic Pulses on Unmanned Aerial Vehicle Control Systems

2020 ◽  
Vol 9 (7) ◽  
pp. 639-643
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Control Systems ◽  
Data Exchange ◽  
Critical Infrastructure ◽  
Armed Forces ◽  
Electromagnetic Pulses ◽  
Flight Duration ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
Important Means

The development of technologies for the development and use of unmanned aerial vehicles (UAV) for military purposes is especially notable. Modern UAV are used as one of the most important means increasing combat capabilities of the Armed Forces. Their combat use is desirable when performing tasks characterized by a long flight duration, increased danger and complexity. The use of UAV to ensure the safety of civilian objects and critical infrastructure facilities is also highlighted, forcing more attention to be paid to new methods of monitoring and monitoring the earth's surface. The analysis showed that there are potential threats of the emergence news power electromagnetic means of influence on unmanned aerial vehicles using ultrashort electromagnetic pulses. The article analyzes the characteristics of existing means generating ultrashort electromagnetic pulses and the trivial characteristics of aviation data exchange protocols. The necessity of testing telecommunication control systems for unmanned aerial vehicles based on the influence of ultrashort electromagnetic pulses is shown, and the experimental method is the most promising method for assessing their impact.

scholarly journals Sliding Mode Based Lateral Control of Unmanned Aerial Vehicles

2019 ◽  
Vol 150 ◽  
pp. 78-87 ◽  
Author(s):  
Pham Thi Phuong Anh ◽  
Nguyen Vu ◽  
Phan Tuong Lai ◽  
Nguyen Quang Vinh
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Sliding Mode ◽  
Lateral Control ◽  
Aerial Vehicles

scholarly journals Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles

2019 ◽  
Vol 9 (10) ◽  
pp. 2122 ◽  
Author(s):  
Nguyen Xuan-Mung ◽  
Sung-Kyung Hong
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Control Algorithm ◽  
Control Method ◽  
Lyapunov Theory ◽  
Smooth Transition ◽  
Integral Approach ◽  
Control Performance ◽  
Aerial Vehicles ◽  
Altitude Control ◽  
Linear Controllers

Quadcopter unmanned aerial vehicles continue to play important roles in several applications and the improvement of their control performance has been explored in a great number of studies. In this paper, we present an altitude control algorithm for quadcopters that consists of a combination of nonlinear and linear controllers. The smooth transition between the nonlinear and linear modes are guaranteed through controller gains that are obtained based on mathematical analysis. The proposed controller takes advantage and addresses some known shortcomings of the conventional proportional–integral–derivative control method. The algorithm is simple to implement, and we prove its stability through the Lyapunov theory. By prescribing certain flight conditions, we use numerical simulations to compare the control performance of our control method to that of a conventional proportional–derivative–integral approach. Furthermore, we use a DJI-F450 drone equipped with a laser ranging sensor as the experimental quadcopter platform to evaluate the performance of our new controller in real flight conditions. Numerical simulation and experimental results demonstrate the effectiveness of the proposed algorithm.

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