Leader-following formation control of quadcopters with heading synchronization

Summary A distributed formation control algorithm is proposed for multiple vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) in this paper. The neighboring information is obtained by active measurements rather than by nonactive communications as done in the current literatures. By properly expanding the distance‐based network topology structure between each pair of UAVs, a distributed algorithm is proposed such that the switching topology remains connected along the time. Since a VTOL UAV system is typically underactuated, a hierarchical idea is introduced to derive the control design procedure. More specifically, the studied formation control problem of multiple VTOL UAVs is first transformed into the consensus problem of their corresponding error systems. Then, a command force and an applied torque are synthesized for each VTOL UAV such that the error systems reach a consensus. It is demonstrated in terms of Lyapunov theory that the proposed distributed hierarchical control algorithm guarantees the formation realization of multiple VTOL UAVs while maintaining the network connectivity. Finally, simulations are performed to validate the theoretical results.

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Distributed hierarchical control for multiple vertical takeoff and landing UAVs with a distance‐based network topology

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Meng

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et al. 2020

103

Robust time-varying formation design problems for second-order multiagent systems subjected to external disturbances are investigated. First, by constructing an extended state observer, the disturbance compensation is estimated, which is a critical term in the proposed robust time-varying formation control protocol. Then, an explicit expression of the formation center function is determined and impacts of disturbance compensations on the formation center function are presented. With the formation feasibility conditions, robust time-varying formation design criteria are derived to determine the gain matrix of the formation control protocol by utilizing the algebraic Riccati equation technique. Furthermore, the tracking performance and the robustness property of multiagent systems are analyzed. Finally, the numerical simulation is provided to illustrate the effectiveness of theoretical results. K E Y W O R D S algebraic Riccati equation, extended state observer, external disturbance, multiagent system, robust time-varying formation 2796

Observer‐based output feedback event‐triggered robust control for heterogeneous vehicular platoon systems

Tian,

Li,

Tong

2024

In this article, the problem of output feedback robust control for heterogeneous vehicle platoon system (HVPS) is investigated. A novel double‐channel event‐triggered mechanism is designed to reduce the waste of communication resources and unnecessary data transmissions. A neural network state observer is designed by intermittent output signal to estimate unmeasurable states. The prescribed performance function is used to establish a strong string stability condition. Combining backstepping recursive technique and prescribed performance function with its inverse transformation, observer‐based robust adaptive output feedback event‐triggered platoon controller is designed, which can ensure the individual stability, string stability, and strong string stability of HVPS. It is proved that all signals are bounded by Lyapunov stability analysis. Finally, the validity of the proposed results is proved by simulation.