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

Najm, Aws Abdulsalam; Ibraheem, Ibraheem Kasim; Azar, Ahmad Taher; Humaidi, Amjad J.

doi:10.3390/s20123576

Cited by 53 publications

(17 citation statements)

References 25 publications

(31 reference statements)

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“…Fuzzy logic and genetic algorithms are used in some algorithms. Lightweight Telepresence robots require simpler and more intensive computational algorithms (Najm et al, 2020). Especially the odometry algorithm has been preferred to meet this need.…”

Section: Literature Reviewmentioning

confidence: 99%

Embedded Design and Implementation of Mobile Robot for Surveillance Applications

Al-Obaidi

Al-Qassar

Nasser

et al. 2021

Indonesian J. Sci. Technol

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The surveillance and security of areas such as home, laboratory, office, factory, and airports, are important to prevent any threatening to human lives. Mobile robots are proven their effectiveness in a large number of applications, especially in hazardous areas where they can be remotely controlled by humans to accomplish certain tasks. This research paper presents a design and implementation of a mobile robot for surveillance and security applications. The main objective of the design is to lower the cost and the power consumption of the mobile robot which accomplish using low-cost open-source hardware such as Arduino and Raspberry Pi. The robot is connected wirelessly via a low-power ZigBee module to the control station to allow the operator for controlling the mobile robot motions and monitoring the physical events in the environment where the robot is used. Sensors such as camera, temperature, and range are embedded in the robot to sense and monitor human motion, the room temperature, and the distance of the surrounding obstacles. The testing of the implemented mobile robot shows that it can run continuously for approximately 6.5 hours at a motor shaft speed 25 rpm of unlit the need to recharge the battery.

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Section: Literature Reviewmentioning

confidence: 99%

Embedded Design and Implementation of Mobile Robot for Surveillance Applications

Al-Obaidi

Al-Qassar

Nasser

et al. 2021

Indonesian J. Sci. Technol

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“…Consensus and leader-following consensus algorithms are used to synchronize the MASs [13], [14]. Consensus algorithms are used to reach an agreement in relation to the states of the other agents [15]- [17]. On the other hand, leader-following consensus algorithms are considered when all the agents must follow a physical or virtual leader agent [18].…”

Section: Focus Of Coordination Of Multiple Robots Ismentioning

confidence: 99%

Robust Formation Control Based on Leader-Following Consensus in Multi-Agent Systems With Faults in the Information Exchange: Application in a Fleet of Unmanned Aerial Vehicles

et al. 2021

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In this paper, a robust leader-following consensus protocol for multi-agent systems (MASs) subject to faults in the information exchange and disturbance is presented. The problem under consideration is to guarantee the convergence of the agent trajectories to a leader agent when all the agent followers are under faults in the information exchange as smooth time-varying delays and disturbances. The main contribution in this paper is the design of a robust leader-following control through the Lyapunov approach and an optimal H ∞ criterion such that all agents follow a virtual leader agent despite faults in the information exchange and disturbances. Linear matrix inequalities (LMIs)-based conditions are obtained whose solution allows computing the robust controller gain. In order to show the effectiveness of the proposed approach, numerical examples are carried out comparing a state-of-the-art approach and the proposed strategy in a fleet of unmanned aerial vehicles (UAVs) subject to wind turbulence which are shown to achieve the formation control.INDEX TERMS Consensus, communication faults, leader-following consensus, multi-agent systems.

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“…Researchers have modeled quadcopters using various types of structures and configurations (Wang et al, 2016;Alkamachi and Erçelebi, 2017;Najm et al, 2020). The most frequently used model is the cross configuration.…”

Section: Quadcopter Basic Movementmentioning

confidence: 99%

Attitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control

Heryanto¹,

Kusumoputro²

2021

IJTech

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In this study, a neural network-based direct inverse control (DIC) approach was developed and simulated to control various maneuvers of an unmanned aerial vehicle (UAV) quadcopter. The aim was to propose an inner loop control algorithm for UAV quadcopter maneuvers using a neural network-based DIC system. The appropriate connection weights of neurons in the controller were determined through a backpropagation learning algorithm using real quadcopter maneuver flight data. The neural network-based DIC was trained and then tested using a trajectory dataset different from the training dataset. The experimental results showed that the neural network-based DIC could follow the maneuvers of the testing trajectory dataset with excellent performance, as indicated by an overall mean squared error (MSE) of 1.461 and attitude MSEs of 3.104 for roll, 0.889 for pitch, 1.834 for yaw and 0.018 for altitude. These results indicate that the proposed artificial neural network-based DIC can be used to control the attitude and altitude of the quadcopter during maneuvers.

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

Cited by 53 publications

References 25 publications

Embedded Design and Implementation of Mobile Robot for Surveillance Applications

Embedded Design and Implementation of Mobile Robot for Surveillance Applications

Robust Formation Control Based on Leader-Following Consensus in Multi-Agent Systems With Faults in the Information Exchange: Application in a Fleet of Unmanned Aerial Vehicles

Attitude and Altitude Control of Quadcopter Maneuvers using Neural Network–Based Direct Inverse Control

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