A novel backstepping method for the three-dimensional multi-UAVs formation control

Huan, Liu; Wang, Xiangke; Zhu, Huayong

doi:10.1109/icma.2015.7237609

Cited by 21 publications

(11 citation statements)

References 5 publications

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“…The framework for formation flight is developed based on both l − l and l − ψ controllers in [29]. Other techniques found in literature include back-stepping [30,31], sliding mode control [32][33][34].A hierarchical scheme is proposed in [35]. The formation is divided into branches, each 5 EAI Endorsed Transactions on Industrial Networks and Intelligent Systems Online First branch is a string of several UAVs.…”

Section: Leader-followermentioning

confidence: 99%

Formation Control Algorithms for Multiple-UAVs: A Comprehensive Survey

T.¹,

Hua²,

Nguyen³

et al. 2021

EAI Endorsed Transactions on Industrial Networks and Intelligen

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Unmanned aerial vehicles (UAVs) have been widely deployed in many applications such as transportation, data collection, monitoring, or tracking objects. Nowadays, numerous missions require UAVs to operate in a large area or to complete missions in a stringent period of time. Using a single UAV may not meet the performance requirements because of its small size and limited battery. In this situation, multiple Unmanned Aerial Vehicles (UAVs) have emerged as an effective measure that can address these limitations. A group of UAVs cooperatively working together could offer a solution that is more efficient and economical than using a powerful UAV alone. To better utilizing the multiple-UAVs system, control of formation UAVs is a critical challenge that needs to overcome. Therefore, formation control has become an active research topic that gains great attention from researchers. Extensive research efforts have been dedicated to studying the formation control problem with numerous control protocols which have been proposed. This paper reviews the profound studies on formation control in literature. Each approach is investigated based on different criteria, which highlights its distinct merits and demerits. The comparison is provided to facilitate the readers in their future researches in the field of formation control. Finally, some open challenges and research directions are also discussed.

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Section: Leader-followermentioning

confidence: 99%

Formation Control Algorithms for Multiple-UAVs: A Comprehensive Survey

T.¹,

Hua²,

Nguyen³

et al. 2021

EAI Endorsed Transactions on Industrial Networks and Intelligen

View full text Add to dashboard Cite

show abstract

“…{ } for the quadrotors connected; then, the coordinating control protocol (7) can achieve consensus in fixed-time, and the settling time T satisfies…”

Section: Theorem 1 Suppose That the Undirected Communication Topology G N � V E Amentioning

confidence: 99%

“…Up to now, researchers have achieved rich research results in the field of cooperative control of multiagents and have put forward many theories of formation control, which include leader-follower methods, virtual structure methods, and behavior-based methods and all of these are widely used in the field of multiquadrotor formation control. By adopting the lead-following formation architecture, the formation control methods which combined state estimation and backstepping method were given in [7]. In [8], a behavior-based decentralized method for robust formation flight control technology for multiple UAVs is proposed.…”

Section: Introductionmentioning

confidence: 99%

A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors

Huang

2021

Journal of Robotics

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This paper deals with the problem of multiquadrotor collaborative control by developing and analyzing a new type of fixed-time formation control algorithm. The control strategy proposes a hierarchical control framework, which consists of two layers: a coordinating control layer and a tracking control layer. On the coordinating control layer, according to the fixed-time consistency theory, the virtual position and virtual velocity of each quadrotor are calculated and acquired to form a virtual formation, and the virtual velocity reaches consistency. On the tracking control layer, the real position and the real velocity track the virtual position and the virtual velocity, respectively. Thus, multiquadrotor can achieve the required formation shape and velocity consensus. Finally, the comparative simulations are carried out to illustrate the feasibility and superiority of the proposed fixed-time hierarchical formation control method for multiquadrotor collaborative control.

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“…In recent years, with the development of control techniques of single quadrotor, the formation control problem for multi-quadrotor systems has been a research focus. In [12], the leader-follower approach was employed to multi-UAVs formation control in a three-dimensional space, where the problem of the communication jam is investigated based on the state estimation method. In [10], a robust formation flight control technology only making use of information of neighboring unmanned aerial vehicles was proposed based on the behavior-based decentralized approach.…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Formation Control With Applications to Multi-Quadrotor Systems

Shen

2019

IEEE Access

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A hierarchical formation control framework is proposed to study the formation control problem for the leader-follower multi-quadrotor systems. The proposed framework includes a coordinating control level and a tracking control level. On the coordinating control level, the virtual position and the virtual velocity are obtained based on the finite-time consensus theory such that the virtual shape is formed and virtual velocity consensus is reached. On the tracking control level, the real position and the real velocity track the virtual position and the virtual velocity, respectively, such that a number of quadrotors can reach the desired formation shape and the velocity consensus. Consequently, a coordinating control algorithm and a tracking control algorithm are designed, respectively. The results of simulations and experiments employing three quadrotors and a leader demonstrate that the quadrotors can quickly complete the formation shape and the corresponding velocity consensus is arrived.INDEX TERMS Formation flight, finite-time consensus, coordinating control, tracking control.

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A novel backstepping method for the three-dimensional multi-UAVs formation control

Cited by 21 publications

References 5 publications

Formation Control Algorithms for Multiple-UAVs: A Comprehensive Survey

Formation Control Algorithms for Multiple-UAVs: A Comprehensive Survey

A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors

Hierarchical Formation Control With Applications to Multi-Quadrotor Systems

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