Communication free leader–follower formation control of unmanned aircraft systems

Dehghani, Mohammad Ali; Menhaj, Mohammad Bagher

doi:10.1016/j.robot.2016.03.008

Cited by 53 publications

(26 citation statements)

References 22 publications

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“…Assumption shows that there exist no cycles among different subgroups. By taking each subgroup as a node, the topology structure for the subgroups is a leader‐following one, which is easy for implementation (see, e.g., and ). Moreover, for each subgroup, the spanning tree requirement is quite mild for practical application (see, e.g.…”

Section: Preliminaries and Problem Descriptionmentioning

confidence: 99%

Time‐varying group formation analysis and design for general linear multi‐agent systems with directed topologies

Dong

Zhao

et al. 2016

Intl J Robust & Nonlinear

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Time-varying group formation control problems for general linear multi-agent systems with directed topologies are studied. Different from the traditional complete formation, where only one formation is realized by the multi-agent system, in the group formation, there could be multiple time-varying sub-formations. Firstly, a time-varying group formation protocol is constructed by local neighboring relative information. Then nonsingular transformations are applied to the closed-loop multi-agent systems. Sufficient conditions for the multi-agent systems to achieve time-varying group formation are further presented together with the time-varying group formation feasibility constraints. Explicit expressions of the subgroup formation reference functions are derived to describe the macroscopic movement of the time-varying subgroup formations. Moreover, an approach to design the time-varying group formation protocol is proposed by solving an algebraic Riccati equation. Finally, a numerical example with three subgroups is provided to demonstrate the effectiveness of the obtained theoretical results.

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Section: Preliminaries and Problem Descriptionmentioning

confidence: 99%

Time‐varying group formation analysis and design for general linear multi‐agent systems with directed topologies

Dong

Zhao

et al. 2016

Intl J Robust & Nonlinear

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“…Theorem 1. Give the multiple quadrotor UAVs formation system (9) in the directed graph G and design the ILC algorithm (11), the formation objective (10) (11) can be rewritten as…”

Section: Control Strategymentioning

confidence: 99%

Iterative learning-based formation control for multiple quadrotor unmanned aerial vehicles

Zhao

Jing

Chen

et al. 2020

International Journal of Advanced Robotic Systems

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A double-layer formation control is proposed to solve the repeated tasks for multiple quadrotor unmanned aerial vehicle systems. The first layer aims at achieving a formation target in which the iterative learning control is designed based on relative distance with neighbor unmanned aerial vehicles and absolute distance with virtual leader unmanned aerial vehicle. The formation controller is responsible for keeping the formation shape and generating the desired flying trajectories for each drones. The second layer control aims at achieving a high-precision tracking to desired flying trajectories which are generated from the formation controller. A double closed-loop proportional-derivative strategy is designed to ensure the accuracy of trajectory tracking for each individual drone. Simulations for the circle formation mission of the multiple quadrotor unmanned aerial vehicle system are given to verify the efficiency of the proposed method.

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“…The estimation of the posture of a single leader is given in 2 Mathematical Problems in Engineering [8]. The leader-follower behaviour designed for two robots is extended to multiple robots in [9], to achieve directed treeshaped configurations. All the previous works analyse the local convergence only and infer the global convergence in the settling times, but they avoid formal proofs about the stability of the whole system, with an arbitrary number of robots.…”

Section: Introductionmentioning

confidence: 99%

“…Control laws to maintain the visibility of the leader in the presence of obstacles are given in [27]. Nonlinear estimators for aircrafts using a seeker sensor are presented in [9]. Finally, the possible reassignation of the leader based on an affection fuzzy measurement is proposed by [28].…”

Section: Introductionmentioning

confidence: 99%

Extension of Leader‐Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

Paniagua-Contro

Hernández‐Martínez

González-Medina

et al. 2019

Mathematical Problems in Engineering

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This paper presents the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots. The control strategies are based on the decentralized measurements of distance and heading angles. Combining the kinematic models, the control strategies produce the standard and new mechanical behaviours related to rigid body or n-trailer approaches. The analysis is given in pairs of robots and extended to the case of multiple robots with a directed tree-shaped communication topology. Combining these behaviours, it is possible to make platoons of robots, as obtained from cluster space or virtual structure approaches, but now defined by local measurements and communication of robots. Numerical simulations and real-time experiments show the performance of the approach and the possibilities to be applied in multirobot tasks.

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Communication free leader–follower formation control of unmanned aircraft systems

Cited by 53 publications

References 22 publications

Time‐varying group formation analysis and design for general linear multi‐agent systems with directed topologies

Time‐varying group formation analysis and design for general linear multi‐agent systems with directed topologies

Iterative learning-based formation control for multiple quadrotor unmanned aerial vehicles

Extension of Leader‐Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

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