Distributed bearing-based formation control of unmanned aerial vehicle swarm via global orientation estimation

Zhang, Yuwei; Wang, Xingjian; Wang, Shaoping; Tian, Xinyu

doi:10.1016/j.cja.2021.05.009

Cited by 21 publications

(10 citation statements)

References 36 publications

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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: 90%

“…We designed a cascaded model for formation control of a UAV swarm, considering the dynamic model of quadrotor UAVs. In the upper cascade, we gave the bearing-based law, and in the lower cascade, we designed the attitude synchronization controller that improves the performances of [21,24,31] by the use of quaternions instead of Euler angles. This complete cascaded structure was then used to simulate a UAV swarm's translation, scaling, and rotation in 3D space.…”

Section: Problem Formulationmentioning

confidence: 99%

“…The distributed attitude synchronization and bearing-based formation control law were designed for 3D formation control as compared to [22,23], which have only designed bearing-based controllers for 2D space. Moreover, the proposed scheme uses quaternion-based attitude control, which is much more robust than research that has used Euler angles such as [21,31].…”

mentioning

confidence: 99%

“…This work investigated and implemented the distributed formation control for timevarying velocity and time-varying orientation leader agents, which has not been accomplished yet in the domain of bearing-based formation control as compared to [21,31,32]. 4.…”

mentioning

confidence: 99%

“…We designed our control method based on dynamic models of UAVs and undirected graph topology, a more robust technique as compared to [21,24,31], which only have used directed graph communications and kinematic models. The practical validation of the model was done using numerical simulations in MATLAB.…”

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confidence: 99%

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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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Section: Discussionmentioning

confidence: 90%

Section: Problem Formulationmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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