Distributed Observer-based Leader-following Consensus Control for LPV Multi-agent Systems: Application to multiple VTOL-UAVs Formation Control

Trejo, Jesus A. Vazquez; Ponsart, Jean-Christophe; Medina, Manuel Adam; Valencia‐Palomo, Guillermo; Theilliol, Didier

doi:10.1109/icuas57906.2023.10156012

2023 International Conference on Unmanned Aircraft Systems (ICUAS) 2023

DOI: 10.1109/icuas57906.2023.10156012

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Distributed Observer-based Leader-following Consensus Control for LPV Multi-agent Systems: Application to multiple VTOL-UAVs Formation Control

Jesus A. Vazquez Trejo

Jean-Christophe Ponsart

Manuel Adam Medina

et al.

Abstract: HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de

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Cited by 4 publications

References 34 publications

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Reconfiguration for UAV Formation: A Novel Method Based on Modified Artificial Bee Colony Algorithm

Yang,

Mao

et al. 2023

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The flight formation of unmanned aerial vehicles (UAVs) needs to be reconfigured whenever necessary to cope with complex environments and varying tasks. However, the continuity, nonlinearity and high dimensionality of the UAV formation control parameters bring significant challenges to the efficiency and safety of UAV formation reconfiguration. To this end, this paper proposes a reconfiguration strategy of the UAV formation based on a modified Artificial Bee Colony (ABC) algorithm, which ensures superior efficiency and safety level simultaneously. Specifically, we first formulate the formation reconfiguration problem minimizing the time consumed for reconfiguration under the constraints of safety and connection. Then the continuous optimization problem is discretized by using the control parameterization and time discretization (CPTD) method. Finally, we use a modified ABC algorithm to find the solution of formation reconfiguration. Extensive performance evaluations are conducted to verify the superiority of the proposed method. It is concluded that the proposed algorithm achieves a better performance than the existing approaches in literature in solving the problem of 3-D formation reconfiguration.

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Reconfiguration for UAV Formation: A Novel Method Based on Modified Artificial Bee Colony Algorithm

Yang,

Mao

et al. 2023

Drones

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Energy-Efficient Blockchain-Enabled Multi-Robot Coordination for Information Gathering: Theory and Experiments

Castellon,

Khatib,

Roy

et al. 2023

Electronics

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In this work, we propose a blockchain-based solution for securing robot-to-robot communication for a task with a high socioeconomic impact—information gathering. The objective of the robots is to gather maximal information about an unknown ambient phenomenon such as soil humidity distribution in a field. More specifically, we use the proof-of-work (PoW) consensus protocol for the robots to securely coordinate while rejecting tampered data injected by a malicious entity. As the blockchain-based PoW protocol has a large energy footprint, we next employ an algorithmically-engineered energy-efficient version of PoW. Results show that our proposed energy-efficient PoW-based protocol can reduce energy consumption by 14% while easily scaling up to 10 robots.

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Adaptive Fuzzy Quantized Control for a Cooperative USV-UAV System Based on Asynchronous Separate Guidance

Xing,

Zhang,

2023

JMSE

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This paper focuses predominantly on the multi-tasks carried out by the cooperative unmanned surface vehicle-unmanned aerial vehicle (USV-UAV) system in which the input quantization is considered. The proposed cooperative scheme consists of the asynchronous separate guidance and adaptive fuzzy quantized control algorithm. The proposed guidance law takes full advantage of subsystems whilst considering the maneuverability of these subsystems in order to achieve the goal of executing multi-tasks. In contrast to previous guidance laws, although the same waypoint path is planned, the calculation for guidance law proposed is based on speed rather than time, which in reality is more relevant. As for the controls, an adaptive fuzzy quantized controller was developed to reduce undue exertion on the actuator. By fusing the dynamic surface control (DSC) and fuzzy logic system (FLS), a hysteresis quantizer has been introduced to reduce the transmission load. By properly adjusting the quantization density, the number of quantizations was reduced whilst maintaining a favorable control performance. All of the stated variables are semi-global uniform ultimate bounded (SGUUB) and the stability of the USV-UAV system is proofed through the Lyapunov theorem. Finally, the advantages of the proposed scheme are evaluated by two simulative experiments, exhibiting the favorable tracking accuracy and reduced wear on the actuators.

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Distributed Observer-based Leader-following Consensus Control for LPV Multi-agent Systems: Application to multiple VTOL-UAVs Formation Control

Cited by 4 publications

References 34 publications

Reconfiguration for UAV Formation: A Novel Method Based on Modified Artificial Bee Colony Algorithm

Reconfiguration for UAV Formation: A Novel Method Based on Modified Artificial Bee Colony Algorithm

Energy-Efficient Blockchain-Enabled Multi-Robot Coordination for Information Gathering: Theory and Experiments

Adaptive Fuzzy Quantized Control for a Cooperative USV-UAV System Based on Asynchronous Separate Guidance

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