Robust Consensus-Based Formation Flight for Multiple Quadrotors

Rojo-Rodriguez, Erik G.; García, Octavio; Ollervides, E. J.; Zambrano‐Robledo, Patricia del Carmen; Espinoza, Eduardo S.

doi:10.1007/s10846-018-0843-3

Cited by 14 publications

(10 citation statements)

References 31 publications

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“…Suppose that Assumptions 1, 2 and 3 hold. Consider the HLFN Equations (1) and (2) with control, (26) and (27), the consensus problem can be solved if:…”

Section: Event-based Control For Consensus Of Hlfns With Layer-to-laymentioning

confidence: 99%

“…The paper [22] showed that event trigger control has lower communication times and controller update times and better control effect than periodic sampling control on the premise of completing control tasks. The event-based control technology attracted much attention because of the characteristics of resource saving, and related research also achieved more results [23][24][25][26][27][28][29][30]. However, the consensus problem of HLFNs remains unsolved.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Event-Based Control of Hierarchical Leader-Follower Networks with Time-Varying Layer-To-Layer Delays

et al. 2020

Energies

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Compared with the traditional multi-agent models, the hierarchical leader–follower network (HLFN) can describe some real-world multi-agent systems more precisely due to its layered properties. The distributed event-based consensus control problem of HLFNs with layer-to-layer delays, namely, communication delays among agents of different layers, is presented in this essay. In order to solve the aforementioned problem, several innovative hierarchical event-based control (HEC) algorithms are proposed. The sufficient conditions on the control parameters and event-triggered mechanism were derived to undertake the reliability of the closed-loop dynamics. Moreover, it is shown that the zeno-behaviors of the presented HEC algorithms can be excluded. Finally, there are some numerical examples that verify the availability of the results.

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“…Suppose that Assumptions 1, 2 and 3 hold. Consider the HLFN Equations (1) and (2) with control, (26) and (27), the consensus problem can be solved if:…”

Section: Event-based Control For Consensus Of Hlfns With Layer-to-laymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Distributed Event-Based Control of Hierarchical Leader-Follower Networks with Time-Varying Layer-To-Layer Delays

et al. 2020

Energies

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“…The control inputs u p i and u a i are second order sliding mode controllers in order to obtain a guidance and navigation for the i aerial vehicle of the MAS as a networked control system. 19,21,29 Remark 1: As the rotation of the four propellers on the quadrotor is balanced, gyroscopic moment d g gyro i will essentially be zero. The only case in which gyroscopic moments will not be zero is if there is a significant difference in the RPM of the four motors and in the presence of a strong sideways cross-wind.…”

Section: Guidance Navigation and Control For The I Aerial Vehiclementioning

confidence: 99%

Section: Guidance Navigation and Control For The I Aerial Vehiclementioning

confidence: 99%

A sectorial fuzzy consensus algorithm for the formation flight of multiple quadrotor unmanned aerial vehicles

Ollervides-Vazquez

Rojo-Rodriguez

Garcia‐Salazar

et al. 2020

International Journal of Micro Air Vehicles

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This paper presents an algorithm based on fuzzy theory for the formation flight of the multi-quadrotors. For this purpose, the mathematical model of N-quadrotor unmanned aerial vehicles is presented using the Newton-Euler formulation. The strategy of the formation flight is based on a structure composed by a sectorial fuzzy controller and the linear systems whose state variables are the position and velocity of the ith quadrotor. The stability analysis is described as a generalized form for N-quadrotor unmanned aerial vehicles and it is based on the Lyapunov theory. This analysis demonstrates that the closed-loop system is globally asymptotically stable so that the quadrotors unmanned aerial vehicles reach the consensus. Numerical simulation demonstrates the robustness of the proposed scheme for the formation flight even in the presence of disturbances. Finally, experimental results show the feasibility of the proposed algorithm for the formation flight of multiple unmanned aerial vehicles.

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“…On the other hand, UAVs inherently require appropriate control laws capable of operating the vehicle under the specified flight envelope; which in many applications includes adverse conditions (Rojo-Rodriguez et al , 2019). This combination of uncertainty and requirement of autonomy yields a challenging problem when designing suitable control laws (Mac et al , 2018).…”

Section: Introductionmentioning

confidence: 99%

An integral approach for aircraft pitch control and instrumentation in a wind-tunnel

Villarreal-Valderrama

Takano

Licéaga‐Castro

et al. 2020

AEAT

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Purpose Aircraft pitch control is fundamental for the performance of micro aerial vehicles (MAVs). The purpose of this paper is to establish a simple experimental procedure to calibrate pitch instrumentation and classical control algorithms. This includes developing an efficient pitch angle observer with optimal estimation and evaluating controllers under uncertainty and external disturbances. Design/methodology/approach A wind tunnel test bench is designed to simulate fixed-wing aircraft dynamics. Key elements of the instrumentation commonly found in MAVs are characterized in a gyroscopic test bench. A data fusion algorithm is calibrated to match the gyroscopic test bench measurements and is then integrated into the autopilot platform. The elevator-angle to pitch-angle dynamic model is obtained experimentally. Two different control algorithms, based on model-free and model-based approaches, are designed. These controllers are analyzed in terms of parametric uncertainties due to wind speed variations and external perturbation because of sudden weight distribution changes. A series of experimental tests is performed in wind-tunnel facilities to highlight the main features of each control approach. Findings With regard to the instrumentation algorithms, a simple experimental methodology for the design of optimal pitch angle observer is presented and validated experimentally. In the context of the platform design and identification, the similitude among the theoretical and experimental responses shows that the platform is suitable for typical pitch control assessment. The wind tunnel experiments show that a fixed linear controller, designed using classical frequency domain concepts, is able to provide adequate responses in scenarios that approximate the operation of MAVs. Research limitations/implications The aircraft orientation observer can be used for both pitch and roll angles. However, for simultaneousyaw angle estimation the proposed design method requires further research. The model analysis considers a wind speed range of 6-18 m/s, with a nominal operation of 12 m/s. The maximum experimentally tested reference for the pitch angle controller was 20°. Further operating conditions may require more complex control approaches (e.g. scheduling, non-linear, etc.). However, this operating range is enough for typical MAV missions. Originality/value The study shows the design of an effective pitch angle observer, based on a simple experimental approach, which achieved locally optimum estimates at the test conditions. Additionally, the instrumentation and design of a test bench for typical pitch control assessment in wind tunnel facilities is presented. Finally, the study presents the development of a simple controller that provides adequate responses in scenarios that approximate the operation of MAVs, including perturbations that resemble package delivery and parametric uncertainty due to wind speed variations.

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Robust Consensus-Based Formation Flight for Multiple Quadrotors

Cited by 14 publications

References 31 publications

Distributed Event-Based Control of Hierarchical Leader-Follower Networks with Time-Varying Layer-To-Layer Delays

Distributed Event-Based Control of Hierarchical Leader-Follower Networks with Time-Varying Layer-To-Layer Delays

A sectorial fuzzy consensus algorithm for the formation flight of multiple quadrotor unmanned aerial vehicles

An integral approach for aircraft pitch control and instrumentation in a wind-tunnel

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