RISE-based cooperative control of uncertain multi-agent system

Tachibana, Yasuo; Namerikawa, Toru

doi:10.23919/acc.2017.7963030

Cited by 3 publications

(2 citation statements)

References 14 publications

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“…This method can compensate for unknown time-varying disturbances. We regard the wind, payload weight changes, and inertia from the payload adding to the UAVs as unknown acceleration disturbances, addressed using the existing [21] method that applies the RISE to the multi-agent system. In addition to the method of maintaining a horizontal payload attitude, we also propose an auxiliary control method that consists of correcting the looseness of the cable and avoiding obstacles approaching the payload, such as the ground, walls, and trees.…”

Section: Introductionmentioning

confidence: 99%

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Cooperative transport control by a multicopter system

Kotani

Guo

Namerikawa

et al. 2021

IET Control Theory & Appl

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To date, multicopters have mainly been used in the entertainment and information‐gathering fields, but can potentially be used to transport payloads. Specifically, multicopters are more suited for manoeuvring tough terrains and delivering payloads to areas unaccessible by other means. The authors propose a control method to achieve cooperative transport with a plural multicopter system and address the problem of delivering a payload being suspended via cables from multicopters. In cooperative transport using a multicopter system, disturbance (weight, wind, and inertia force) may cause destabilization. A consensus algorithm is used to coordinate flight of helicopters in a formation and to ensure that the payload follows a virtual leader. Disturbances (such as wind and cable tension) are primary causes of destabilization and, in the multicopter setting, they are suppressed by an adaptive robust control, Robust Integral of Sign of the Error control. It is shown that the proposed control design can achieve not only convergence under the ideal setting but also robust operation under significant disturbances. In addition, additional control objectives such as cable tension, payload attitude, and collision avoidance can be integrated and achieved. As an auxiliary method, cable tension control, maintaining a horizontal payload attitude, and collision avoidance are considered. The usefulness of the proposed method was verified by simulations and laboratory flight testing demonstrations.

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Section: Introductionmentioning

confidence: 99%

“…This method can compensate for unknown time‐varying disturbances. We regard the wind, payload weight changes, and inertia from the payload adding to the UAVs as unknown acceleration disturbances, addressed using the existing [21] method that applies the RISE to the multi‐agent system.…”

Section: Introductionmentioning

confidence: 99%

Cooperative transport control by a multicopter system

Kotani

Guo

Namerikawa

et al. 2021

IET Control Theory & Appl

Self Cite

View full text Add to dashboard Cite

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Robust integral of sign of error‐based distributed flocking control of double‐integrator multi‐agent systems with a varying virtual leader

Wang

Sun

et al. 2021

Intl J Robust & Nonlinear

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This article investigates the flocking control problem of double‐integrator multi‐agent systems with a virtual leader subject to unknown external disturbances. A robust integral of sign of error (RISE) based control method is leveraged to design a distributed flocking controller with advantages of zero initial input value and continuous control input. By means of a new second‐order differential virtual potential field function, and the navigational feedback from a virtual leader, the proposed flocking controller assures agents of velocity consensus with the virtual leader and a quasi α‐lattice formation within a circular neighborhood centered on the virtual leader. Moreover, this algorithm guarantees collision avoidance and connectivity preservation of a proximity‐induced communication topology. Numerical simulations of the algorithm are provided to illustrate the effectiveness of the proposed flocking algorithm.

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Interaction Matrix Based Analysis and Asymptotic Cooperative Control of Multi-agent Systems

Hou

Zhang

et al. 2019

Int. J. Control Autom. Syst.

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RISE-based cooperative control of uncertain multi-agent system

Cited by 3 publications

References 14 publications

Cooperative transport control by a multicopter system

Cooperative transport control by a multicopter system

Robust integral of sign of error‐based distributed flocking control of double‐integrator multi‐agent systems with a varying virtual leader

Interaction Matrix Based Analysis and Asymptotic Cooperative Control of Multi-agent Systems

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