Fuzzy distributed cooperative tracking for a swarm of unmanned aerial vehicles with heterogeneous goals

Abstract

This article proposes a systematic analysis for a tracking problem which ensures cooperation amongst a swarm of UAVs, modelled as nonlinear systems with linear and angular velocity constraints, in order to achieve different goals. A distributed Takagi-Sugeno (TS) framework design is adopted for the representation of the nonlinear model of the dynamics of the UAVs. The distributed control law which is introduced is composed of both node and network level information. Firstly feedback gains are synthesised using a Parallel Distributed Compensation (PDC) control law structure, for a collection of isolated UAVs; ignoring communications among the swarm. Then secondly, based on an alternation-like procedure, the resulting feedback gains are used to determine Lyapunov matrices which are utilised at network level to incorporate into the control law the relative differences in the states of the vehicles, and to induce cooperative behaviour. Eventually stability is guaranteed for the entire swarm. The control synthesis is performed using tools from linear control theory: in particular the design criteria are posed as Linear Matrix Inequalities (LMIs). An example based on a UAV tracking scenario is included to outline the efficacy of the approach.

ℋ∞ leader-following consensus of multi-agent systems with channel fading under switching topologies: a semi-Markov kernel approach

“…Remark 3 Theorem 2 realizes the consistent controller design of systems ( 6) and ( 8) under the channel fading model (3). A set of sufficient conditions to ensure the consensus of systems and the existence of controller gains is established based on the linear matrix inequality form.…”

“…Therefore, it is interesting and meaningful to investigate the non-identical channel fading problem within the framework of the fading model proposed in this paper. No better method has been proposed to solve the problem of non-identical channel fading under model (3). This also encourages us to continue to study this issue in future work.…”

“…A fundamental and important research topic of distributed system control is the consensus problem of multiagent systems. It has attracted considerable interest among many researchers in different fields in the past few decades, due to its significant applications in civilians and militaries, such as unmanned air vehicles [1][2][3] , autonomous underwater vehicles [4] , multiple surface vessels [5] , robot formation [6,7] . The consensus problem essentially refers to a team of agents reaching the same state by designing proper and available distributed control algorithms that only utilize local information exchange with neighbors.…”

Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints

“…Control-Oriented Model. By defining X i1 = ½μ i , α i , β i T , X i2 = ½p i , q i , r i T , and U i = ½δ 1a , δ 1e , δ 1r T and substituting (5), (6), and ( 7) into (1), ( 2), (3), and (4), then it follows that…”

“…In [5], the authors investigated the cooperative transport control problem using multirotor UAVs. In [6], a system analysis method was proposed for the tracking control problem of multi-UAVs. The distributed framework was used to describe the dynamic model of UAV, and the information of nodes and networks were considered in the distributed control design.…”