Bearing-Based Distributed Formation Control of Multiple Vertical Take-Off and Landing UAVs

Huang, Yi; Meng, Ziyang

doi:10.1109/tcns.2021.3061941

Cited by 37 publications

(6 citation statements)

References 46 publications

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“…A finite-time bearing-only control law is proposed based on the inverse of the minimum eigenvalue of the sum of the local projection matrices. Formation tracking via bearing-only estimation for time-varying leader-follower formations was also proposed in [44], [45], [46], [47].…”

Section: Introductionmentioning

confidence: 99%

Aquaculture systems in Hanoi, Vietnam.

Nguyen¹

2020

Preprint

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Hanoi, the capital of Vietnam, is one of the most densely populated areas in the world, with about 3,000 people km-2. Traditionally, aquaculture is practiced in ponds, reservoirs and urban lakes, rice fields, wastewater and VAC [an acronym from the Vietnamese words for garden (vuon), pond (ao) and livestock quarters (chuong)] systems. With over 5,000 ha of surface area and 3,000 ha of lowland rice fields, Hanoi has potential for further aquaculture development and tourism-entertainment services. The importance of aquaculture has long been recognized as a source of income and employment. Nowadays, pond aquaculture in peri-urban areas is decreasing due to urbanization, while in areas far from the city it is increasing through the conversion of lowland rice fields to fish ponds.

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Section: Introductionmentioning

confidence: 99%

Aquaculture systems in Hanoi, Vietnam.

Nguyen¹

2020

Preprint

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“…Calculating attitude and bearing in the local body frames of each agent is advantageous because agents do not have to depend on the global frame, as GPS signals may be faulty in subterranean environments (e.g., indoors, underwater, deep space, etc.). Many previous works such as [31,41] have assumed that the body frame of the UAV should coincide with the center of mass, while we suggested that it should coincide at the geometrical center of the UAV for accurate position and orientation measurement.…”

Section: Discussionmentioning

confidence: 91%

Bearing-Based Distributed Formation Control of Unmanned Aerial Vehicle Swarm by Quaternion-Based Attitude Synchronization in Three-Dimensional Space

Sial

Zhang

Wang

et al. 2022

Drones

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Most of the recent research on distributed formation control of unmanned aerial vehicle (UAV) swarms is founded on position, distance, and displacement-based approaches; however, a very promising approach, i.e., bearing-based formation control, is still in its infancy and needs extensive research effort. In formation control problems of UAVs, Euler angles are mostly used for orientation calculation, but Euler angles are susceptible to singularities, limiting their use in practical applications. This paper proposed an effective method for time-varying velocity and orientation leader agents for distributed bearing-based formation control of quadcopter UAVs in three-dimensional space. It combines bearing-based formation control and quaternion-based attitude control using undirected graph topology between agents without the knowledge of global position and orientation. The performance validation of the control scheme was done with numerical simulations, which depicted that UAV formation achieved the desired geometric pattern, translation, scaling, and rotation in 3D space dynamically.

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“…In recent years, the coordination problem has been widely investigated due to its broad application prospect. The consensus problem, as a fundamental issue, is of great interest for its widespread use on formation flight (Huang and Meng, 2021; Tran et al, 2021; Wen et al, 2022), power system recovery (Rostampour et al, 2019; Zhao et al, 2020b), sensor network (Gupta et al, 2020; Qin et al, 2021), and distributed prediction (Jin et al, 2021; Ma et al, 2021a). However, most of works mainly focus on solving the consensus problem subject to ideal agents and ideal communication networks.…”

Section: Introductionmentioning

confidence: 99%

Distributed H_∞ consensus of multiagent systems with nonuniform time-varying communication delays

Tang

Zhen

Zhao

2023

Transactions of the Institute of Measurement and Control

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This article addresses the distributed H∞ consensus control problem of general linear multiagent systems with time-varying communication delays and external disturbances. The communication network is subject to arbitrarily bounded and nonuniform time-varying communication delays. Based on the leader-following control mode, a novel distributed state feedback control protocol is proposed to achieve state consensus over undirected fixed topology while guaranteeing a prescribed disturbance rejection objective. By means of Lyapunov analysis and some inequality techniques, admissible upper bounds of nonuniform time-varying delays and H∞ consensus criteria are acquired. As opposed to the existing result for the similar problem, our result has its distinct advantages in that it can accommodate arbitrarily bounded nonuniform time-varying communication delays, and has greater delay margin and better consensus performance. Moreover, the consensus problem for the multiagent systems over connected undirected switching topology is discussed. Finally, a numerical example is provided to show the effectiveness and superiority of these obtained results.

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Bearing-Based Distributed Formation Control of Multiple Vertical Take-Off and Landing UAVs

Cited by 37 publications

References 46 publications

Aquaculture systems in Hanoi, Vietnam.

Aquaculture systems in Hanoi, Vietnam.

Bearing-Based Distributed Formation Control of Unmanned Aerial Vehicle Swarm by Quaternion-Based Attitude Synchronization in Three-Dimensional Space

Distributed H_∞ consensus of multiagent systems with nonuniform time-varying communication delays

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Bearing-Based Distributed Formation Control of Multiple Vertical Take-Off and Landing UAVs

Cited by 37 publications

References 46 publications

Aquaculture systems in Hanoi, Vietnam.

Aquaculture systems in Hanoi, Vietnam.

Bearing-Based Distributed Formation Control of Unmanned Aerial Vehicle Swarm by Quaternion-Based Attitude Synchronization in Three-Dimensional Space

Distributed H∞ consensus of multiagent systems with nonuniform time-varying communication delays

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Distributed H_∞ consensus of multiagent systems with nonuniform time-varying communication delays