Formation Configuration for Cooperative Multiple UAV Via Backstepping PID Controller

Abstract

The issue of formation rearrangement for a troop of cooperative unmanned vertical takeoff and landing (VTOL) aircrafts in an obstacle-loaded atmosphere is figured out using a purposed backstepping based proportional-integral-derivative controller (PID). The designed controller is developed to regulate every unmanned quadrotor within the troop in an exceedingly localized manner guaranteeing the reserving of the required geometric formation. The backstepping technique could be a promising control technique for nonlinear and coupled multivariable systems. The essential contribution in this paper concentrates on resolving the formation issue for a troop of cooperative pilotless VTOL airplanes in a decentralized manner via backstepping PID regulator. The designed decentralized controller guarantees the success of the required mission of the swarming troop. The simulation results declare the successes of the proposed controller in guaranteeing the stability of the system and reserving of the desired geometric formation either within the existence or absence of obstacles. I. Introduction In recent decenniums, unmanned aerial vehicles (UAVs) have charged a mature concern with their success among achieving heaps of progress in several applications in each military and civilian scopes [1-3]. The UAV is characterized by its capacity to accomplish its assignments in alleged "D-cube" operations (Dull-Dangerous-Dirty) atmosphere with no risk for manned pilots resources [4, 5], easy to preserve and low worth. Therefore, UAV has attained growing concern from scientists, researchers, and engineers. UAVs may be thought about as a hopeful alternative for numerous pilotless military and civilian exercises [6-8]. The auspicious results of a single UAV in executing varied applications persuade the utilization of multiple UAVs cooperating collectively to meet the required tasks [9-11]. Cooperative UAVs guarantees the success of the desired missions with better performance compared with single UAV [12-15]. Certain strategies are needed for multiple cooperative UAVs to cooperate collectively to fulfill the required goals. These strategies which defined by the cooperative UAVs attributes are known as UAVs tactics. These tactics can be classified into the swarming, mission duty, structure rearrangement, and active blockade [16, 17]. Formation rearrangement is outlined by the power of the multiple cooperative UAVs to preserve a desired geometric structure [12], and reconfigure to a different formation per the surrounding circumstances guaranteeing the success of the required application [16, 18]. Each member in the cooperative UAV troop must respect Reynold's rules of flocking during its formation [19-21]. Each UAV member has to match its velocity and separating distance from its neighbors and avoid colliding with its neighbors or obstacles [22]. There are several varieties of controls in the formation rearrangement of multiple cooperative UAVs domain. The scope of these control techniques steadily growing fast last decade including hybrid ...

Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors

“…This hybrid backstepping-ANFIS controller is studied earlier with a backstepping-backstepping controller for the selfsame framework in (Mahfouz et al, 2018). For training approach, the input/output data sets of various points of operation are exercised.…”

“…The quadrotor controller is accomplished by changing the speed of every rotor of the fourfold rotors (Mahfouz et al, 2018). A voltage applied on every motor cause a net torque being utilized on the rotor shaft producing a thrust force i T for th i quadrotor and th j rotor, where 1, 2,3, 4. j = Once the rotor blade is spinning, there is a proportional speed difference among the rotor sharp edge and air during rotating clockwise and anti-clockwise causing a net moment around the roll hub.…”

“…The backstepping-based PID controller is introduced in (Mahfouz et al, 2018). The backstepping control strategy is proposed to achieve the desired altitude and vertical location behavior as a higher-controller in the external-loop.…”

“…A couple of obstacles avoidance techniques are applied to guarantee the safety of all members of the group during tracking a reference desired trajectory in presence of stationary and moving obstacles in an obstacle-loaded dynamic environment. Stationary obstacle avoidance approach was developed in (Mahfouz et al, 2018;Mahfouz et al, 2019), while moving obstacle avoidance approach was introduced in Mahfouz, Hafez, Azzam, et al, 2020).…”

Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System

“…Researchers in [ 20 ] used a simplified quadrotor model to develop a novel distributed consensus algorithm, while one of the uniform constant delays and asynchronous time-varying delays existed as a communication delay. A backstepping based on proportional integral derivative (PID) control was designed in [ 21 ] to solve the formation problem for a team of quadrotors in a decentralized manner. The system stability and retention of the desired geometric formation with or without the existence of the obstacles were presented in the simulations.…”