Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions

Ghommam, Jawhar; Luque-Vega, Luis F.; Saad, Maarouf

doi:10.1155/2020/2069631

Cited by 6 publications

(6 citation statements)

References 41 publications

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“…Theorem 2: Consider the system (1) in closed loop with the dynamic controller defined by (36), together with (31)- (35), and the command filters (23) with initial conditions set to α l−1,1 (0) = x * l (0) and α l−1,2 (0) = 0, l ∈ {2, . .…”

Section: Extension To Partial-and Full-state Consensus With Output Co...mentioning

confidence: 99%

See 1 more Smart Citation

Robust Consensus of High-Order Systems Under Output Constraints: Application to Rendezvous of Underactuated UAVs

Restrepo

Lorı́a

Sarras

et al. 2023

IEEE Trans. Automat. Contr.

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We solve output-and state-consensus problems for multi-agent high-order systems in feedback form. We consider systems interconnected over arbitrary (connected) undirected-topology networks as well as directed spanningtrees and directed cycles. We assume that the systems may be subject to multiple restrictions in the form of output or state constraints, such as limited-range measurements, physical limitations, etc. In addition, we suppose that the systems may be subject to external disturbances. Under these conditions, we present a control framework and a formal analysis that establishes robust stability in the input-to-state sense. The former relies on a modified backstepping method and the latter on multi-stability theory. Finally, we apply our approach to a case-study of interest in the aerospace industry: safetyaware rendezvous control of underactuated UAVs subject to connectivity and collision-avoidance constraints.

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Section: Extension To Partial-and Full-state Consensus With Output Co...mentioning

confidence: 99%

“…Connectivity constraints are considered in [34], but only for UAVs interconnected under undirected topologies and collision-avoidance is not addressed. In turn, the latter is considered in [35], but only for systems interconnected under an undirected topology.…”

Section: Introductionmentioning

confidence: 99%

Robust Consensus of High-Order Systems Under Output Constraints: Application to Rendezvous of Underactuated UAVs

Restrepo

Lorı́a

Sarras

et al. 2023

IEEE Trans. Automat. Contr.

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show abstract

“…Rifqi et al implement a Leader-follower formation controller for two parrot AR drones, where a dedicated PD controller is designed for the respective models [28]. A distance based formation controller is designed for the formation and tracking control of quad-rotors in leader-follower formation which has the capabilities of collision avoidance via Lyapunov barrier functions [29]. A classical adaptive controller is designed for the formation control of swarm of UAVs in leader follower formation in an environment with motion constraints and unknown external disturbances [30].…”

Section: U Wmentioning

confidence: 99%

UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control

et al. 2021

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Leader follower formation of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has found numerous applications such as surveillance of critical infrastructure, industrial automation and disaster management emergency. For completion of high precision group tasks, the choice of appropriate control mechanism is of utmost importance. In presence of environmental effects,external disturbances and parametric uncertainties in the UAVs and UGV models, the controller design process is a challenging task. In order to address the aforementioned problems and to ensure minimum tracking errors and fast convergence of the states, this article proposes an adaptive robust formation and trajectory tracking control scheme for a leader follower formation of UAVs and UGV using Non-Singular Terminal Super Twisting Sliding Mode Control Method.Adaptive compensators are derived based on Lyapunov function method and stability of the proposed controllers is guaranteed. Two variants of the control schemes namely Adaptive Super Twisting SMC (AST-SMC) and Adaptive Non-Singular Terminal Super Twisting SMC (ANSTS-SMC) are tested using numerical simulations performed in MATLAB/Simulink. From the results presented, and with the proposed ANSTS-SMC control scheme, the measured [X , Y ] tracking errors for leader, follower1 and follower2 UAVs are [0 , 0.01]m,[0.01 , 0.02]m and [0.01 , 0.02]m respectively, While with the AST-SMC method the peak [X , Y ] tracking errors for leader, follower1 and follower2 UAVs are [0.05 , 0.05]m,[0.1 , 0.2]m and [0.05 , 0.1]m respectively. The proposed leader follower formation can be effectively used to monitor solar/PV panels and cables in large solar parks.

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“…If the formation of UAVs is abnormal and colliding, the monitoring system quickly acquires abnormal information International Journal of Aerospace Engineering and notices each member. The health management system adopts control decision optimization to adjust the configuration of the formation and the relative movement relationship of nodes in real-time [32,33].…”

Section: Typical Fault Models Of the Uav Formationmentioning

confidence: 99%

Typical Fault Estimation and Dynamic Analysis of a Leader-Follower Unmanned Aerial Vehicle Formation

Shen

Zhu

Wang

et al. 2021

International Journal of Aerospace Engineering

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In this paper, the typical fault estimation and dynamic analysis are presented for a leader-follower unmanned aerial vehicle (UAV) formation system with external disturbances. Firstly, a dynamic model with proportional navigation guidance (PNG) control of the UAV formation is built. Then, an intermediate observer design method is adopted to estimate the system states and faults simultaneously. Based on the graph theory, the topology relationship between each node in the UAV formation has been also analyzed. The estimator and the system error have been created. Moreover, the typical faults, including the components failure, airframe damage, communication failure, formation collision, and environmental impact, are also discussed for the UAV system. Based on the fault-tolerant strategy, five familiar fault models are proposed from the perspectives of fault estimation, dynamical disturbances, and formation cooperative control. With an analysis of the results of states and faults estimation, the actuator faults can be estimated precisely with component failure and wind disturbances. Furthermore, the basic dynamic characteristics of the UAV formation are discussed. Besides, a comparison of two cases related to the wind disturbance has been accomplished to verify the performance of the fault estimator and controller. The results illustrate the credibility and applicability of the fault estimation and dynamic control strategies for the UAV system which are proposed in this paper. Finally, an extension about the UAV formation prognostic health management system is expounded from the point of view of the fault-tolerant control, dynamic modeling, and multifault estimation.

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Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions

Cited by 6 publications

References 41 publications

Robust Consensus of High-Order Systems Under Output Constraints: Application to Rendezvous of Underactuated UAVs

Robust Consensus of High-Order Systems Under Output Constraints: Application to Rendezvous of Underactuated UAVs

UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control

Typical Fault Estimation and Dynamic Analysis of a Leader-Follower Unmanned Aerial Vehicle Formation

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