Stereo Camera Based Formation Control for Unmanned Aerial Vehicles

2018 ◽  
Author(s):  
Jonathan Lwowski ◽  
Abhijit Majumdar ◽  
Patrick Benavidez ◽  
John J. Prevost ◽  
Mo Jamshidi
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Stereo Camera ◽  
Aerial Vehicles

Bird Flocking Inspired Formation Control for Unmanned Aerial Vehicles Using Stereo Camera

2019 ◽  
Vol 13 (3) ◽  
pp. 3580-3589 ◽  
Author(s):  
Jonathan Lwowski ◽  
Abhijit Majumdar ◽  
Patrick Benavidez ◽  
John J. Prevost ◽  
Mo Jamshidi
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Stereo Camera ◽  
Aerial Vehicles

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.

Fault-Tolerant Formation Control of Unmanned Aerial Vehicles in the Presence of Actuator Faults and Obstacles

2016 ◽  
Vol 04 (03) ◽  
pp. 197-211 ◽  
Author(s):  
Zhixiang Liu ◽  
Chi Yuan ◽  
Xiang Yu ◽  
Youmin Zhang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Active Fault ◽  
Fault Tolerant ◽  
Actuator Faults ◽  
Outer Loop ◽  
Actuator Failures ◽  
Aerial Vehicles ◽  
Control Scheme ◽  
Multiple Unmanned Aerial Vehicles

This paper presents a leader-follower type of fault-tolerant formation control (FTFC) methodology with application to multiple unmanned aerial vehicles (UAVs) in the presence of actuator failures and potential collisions. The proposed FTFC scheme consists of both outer-loop and inner-loop controllers. First, a leader-follower control scheme with integration of a collision avoidance mechanism is designed as the outer-loop controller for guaranteeing UAVs to keep the desired formation while avoiding the approaching obstacles. Then, an active fault-tolerant control (FTC) strategy for counteracting the actuator failures and also for preventing the healthy actuators from saturation is synthesized as the inner-loop controller. Finally, a group of numerical simulations are carried out to verify the effectiveness of the proposed approach.

Three-dimensional multiple unmanned aerial vehicles formation control strategy based on second-order consensus

2016 ◽  
Vol 232 (3) ◽  
pp. 481-491 ◽  
Author(s):  
Xu Zhu ◽  
Xun-Xun Zhang ◽  
Mao-De Yan ◽  
Yao-Hong Qu ◽  
Hai Lin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Cooperative Control ◽  
Formation Control ◽  
Three Dimensional ◽  
Second Order ◽  
Guidance Law ◽  
Aerial Vehicles ◽  
Cooperative Guidance ◽  
Consensus Strategy ◽  
Multiple Unmanned Aerial Vehicles

Considering three-dimensional formation control for multiple unmanned aerial vehicles, this paper proposes a second-order consensus strategy by utilizing the position and velocity coordinate variables. To maintain the specified geometric configuration, a cooperative guidance algorithm and a cooperative control algorithm are proposed together to manage the position and attitude, respectively. The cooperative guidance law, which is designed as a second-order consensus algorithm, provides the desired pitch rate, heading rate and acceleration. In addition, a synchronization technology is put forward to reduce the influence of the measurement errors for the cooperative guidance law. The cooperative control law, regarding the output of the cooperative guidance law as its input, is designed by deducing the state-space expression of both the longitudinal and lateral motions. The formation stability is analyzed to give a sufficient and necessary condition. Finally, the simulations for the three-dimensional formation control demonstrate the feasibility and effectiveness of the second-order consensus strategy.

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