Formation control of UAVs with a fourth-order flight dynamics

Kuriki, Yasuhiro; Namerikawa, Toru

doi:10.1109/cdc.2013.6760951

Cited by 35 publications

(12 citation statements)

References 11 publications

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“…Table I defines the above symbols. Note that linearized quadrotor models on the horizontal plane can be expressed as a forth-order system [8].…”

Section: A Modeling a Uavmentioning

confidence: 99%

“…We have been studying cooperative control problems for multi-vehicle systems [6]- [9] with particular focus on solving formation control problems using a consensus algorithm. We expressed the UAV dynamics on the horizontal plane as a fourth-order system and the dynamics in the vertical direction as a second-order system separately, then proposed two consensus-based control algorithms for a multi-UAV system to cooperatively fly in formation on the horizontal plane and in the vertical direction [8], [9]. Using these two consensusbased cooperative control algorithms, UAVs can fly in formation in three-dimensional space.…”

Section: Introductionmentioning

confidence: 99%

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Experimental validation of cooperative formation control with collision avoidance for a multi-UAV system

Kuriki

Namerikawa

2015

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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In this study, we consider cooperative control issues for a multi-unmanned aerial vehicle (UAV) system. Specifically, we present a cooperative formation control strategy for a multi-UAV system with unidirectional network links. Our strategy is to apply a consensus-based algorithm and leaderfollower structure to the UAVs so that they can cooperatively fly in formation. The leader provides each UAV with commands to generate a geometric configuration of the formation. Convergence is guaranteed when the cooperative formation control algorithm is applied to the UAVs. Collisions among UAVs can occur when they are flying with the cooperative control UAVs. Our strategy for collision avoidance is to apply an artificial potential approach to the UAVs. Experiments are performed on multiple commercial small UAVs to validate the proposed formation control algorithm with collision-avoidance capability.

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“…Table I defines the above symbols. Note that linearized quadrotor models on the horizontal plane can be expressed as a forth-order system [8].…”

Section: A Modeling a Uavmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Experimental validation of cooperative formation control with collision avoidance for a multi-UAV system

Kuriki

Namerikawa

2015

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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“…Most nonlinear system identification model parameters use a minimization algorithm. The UAV nonlinear model is 23…”

Section: The Model Of Uavmentioning

confidence: 99%

Design and flight-stability analysis of a closed fixed-wing unmanned aerial vehicle formation controller

Zhang

Xiao

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article addresses a flight-stability problem for the multiple unmanned aerial vehicles cooperative formation flight in the process of the closed and high-speed flight. The main objective is to design a cooperative formation controller with known external factors, and this controller can keep the consensus of attitude and position and reduce the communication delay between any two unmanned aerial vehicles and increase unmanned aerial vehicles formation cruise time under the known external factors. Known external factors are taken into consideration, and longitude maneuvers using nonlinear thrust vectors were employed with unsteady aerodynamic models, according to the attitude and position of unmanned aerial vehicles, which were employed as corresponding input signals for studying the dynamic characteristics of unmanned aerial vehicles formation flight. In addition, the relative distance between any two unmanned aerial vehicles was not allowed to exceed their safe distance so that the controller could perform collision avoidance. An analysis of formation flight distance error shows that it converged to a fixed value that well ensured unmanned aerial vehicles formation flight stability. The experimental results show that the controller can improve the speed of a closed formation effectively and maintain the stability of formation flight, which provides a method for closed formation flight controller design and collision avoidance for any two unmanned aerial vehicles. Meanwhile, the effectiveness of proposed controller is fully proved by semi-physical simulation platform.

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“…5). The layout is generated as in W j = Wo TL I j E {I, ... ,M} , (9) where W j denotes the width of marker j, decreasing from Wo. The width ratio Tw should not be too large to allow enough discriminative content between the markers, and 682 not smaller than the ratio of min and max image marker area limits to guarantee detection of at least one marker per target at a time.…”

Section: Nested Marker Designmentioning

confidence: 99%

“…In addition, quadrocopters in volve a challenging control problem due to their nonlinear dynamics. In the areas of robotics and control engineer ing, the attitude control [5], the take-off control [6], the 978 -89-93215-06-995560114/$15 ©ICROS 678 visual navigation control [7], the acrobatic control [8], the formation control [9], and others have been studied.…”

Section: Introductionmentioning

confidence: 99%

A quadrocopter automatic control contest as an example of interdisciplinary design education

Nitschke

Minami

Hiromoto

et al. 2014

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)

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Unmanned aerial vehicles (UAVs) have many applications and quickly gain popularity with the availability of low-cost micro aerial vehicles (MAVs). Robotics is a popular interdisciplinary education target as it involves understanding and collaboration of several disciplines. Thus, UAVs can serve as an ideal study platform. However, as robotics requires technical background, skills and initial efforts, it is commonly applied in long-term courses. In this paper we successfully exploit the opposite case of robotics in short-term education for students without background, in form of a one-day contest on automatic visual UAV navigation. We provide an extensive survey, and show that existing material and tools do not fit the task and lack in technical aspects. We introduce a novel open-source programming library that comprises programs to guide learning by experience and allow rapid development. It makes contributions to marker-based tracking, with a novel nested-marker design and accurate calibration parameters estimated from 14 Parrot AR.Drone 2.0 front cameras. We show a detailed discussion of the contest results, which represents an extensive user study regarding robotics in education and the effectiveness of the library. The achievement of a steep learning curve for a complex subject has important implications in interdisciplinary design education, as it allows deep understanding of potentials and limitations to facilitate decision-making, unconventional problem solutions and novel applications.

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Formation control of UAVs with a fourth-order flight dynamics

Cited by 35 publications

References 11 publications

Experimental validation of cooperative formation control with collision avoidance for a multi-UAV system

Experimental validation of cooperative formation control with collision avoidance for a multi-UAV system

Design and flight-stability analysis of a closed fixed-wing unmanned aerial vehicle formation controller

A quadrocopter automatic control contest as an example of interdisciplinary design education

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