Journal ArticleDOI
Distributed Cohesive Motion Control of Flight Vehicle Formations
Ismail Bayezit,Baris Fidan +1 more
TLDR
This paper proposes a distributed control scheme to solve the problem of decentralized cohesive motion control of a formation of autonomous vehicles or robots moving in three dimensions utilizing the notions of graph rigidity and persistence as well as techniques of virtual target tracking and smooth switching.Abstract:
In this paper, we consider the problem of decentralized cohesive motion control of a formation of autonomous vehicles or robots moving in three dimensions, where the formation is required to move from its initial setting (defined by the positions of the agents in the formation) to a final desired setting and, during this motion, maintain its formation geometry defined by the initial distances between the agent pairs We propose a distributed control scheme to solve this problem utilizing the notions of graph rigidity and persistence as well as techniques of virtual target tracking and smooth switching The distributed control scheme is developed by modeling the agent kinematics as single-velocity integrator; nevertheless, extension to the cases with practical kinematic and dynamic models of fixed-wing autonomous aerial vehicles and quadrotors is discussed In this context, we examine the maintenance of geometric formation of a swarm of autonomous flight vehicles The developed coordination and control schemes are verified via a number of simulationsread more
Citations
More filters
Journal ArticleDOI
Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications
TL;DR: To achieve predefined time-varying formations, formation protocols are presented for UAV swarm systems first, where the velocities of UAVs can be different when achieving formations, and consensus-based approaches are applied to deal with the time-Varying formation control problems.
Journal ArticleDOI
Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying
TL;DR: Time-varying formation tracking analysis and design problems for second-order Multi-Agent systems with switching interaction topologies are studied, and a formation tracking protocol is constructed based on the relative information of the neighboring agents.
Journal ArticleDOI
Distributed Formation Control of Networked Multi-Agent Systems Using a Dynamic Event-Triggered Communication Mechanism
Xiaohua Ge,Qing-Long Han +1 more
TL;DR: An event-triggered formation protocol is delicately proposed by using only locally triggered sampled data in a distributed manner and the state formation control problem is cast into an asymptotic stability problem of a reduced-order closed-loop system.
Journal ArticleDOI
Semiglobal Observer-Based Leader-Following Consensus With Input Saturation
TL;DR: Under the assumptions that the networks are connected or jointly connected and that each agent is asymptotically null controllable with bounded controls and detectable, semiglobal observer-based leader-following consensus of the multiagent system can be reached on switching networks.
Journal ArticleDOI
Time-varying formation control for unmanned aerial vehicles with switching interaction topologies
TL;DR: Based on the common Lyapunov functional approach and algebraic Riccati equation technique, an approach to design the formation protocol is presented in this paper, where an explicit expression of the formation reference function is derived to describe the macroscopic movement of the whole UAV formation.
References
More filters
Book
Guidance and Control of Ocean Vehicles
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Book
Dynamics of Flight: Stability and Control
Bernard Etkin,T. Teichmann +1 more
TL;DR: In this paper, the authors present data from the Boeing 747-100 for estimating the mean aerodynamic chord, Mean Aerodynamic Chord and Mean Aerodynamics Center of the aircraft.
Book
Flight Stability and Automatic Control
TL;DR: In this article, the authors present a mathematical review of Laplace transforms and matrix algebra for control system analysis techniques for aircraft Autopilot design and demonstrate the application of classic control theory to aircraft autopilot designs.
Proceedings ArticleDOI
Design and control of an indoor micro quadrotor
TL;DR: The approach that the lab has taken to micro VTOL evolving towards full autonomy is described, and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented.
Journal ArticleDOI
Distributed cooperative control of multiple vehicle formations using structural potential functions
TL;DR: In this paper, the authors propose a framework for formation stabilization of multiple autonomous vehicles in a distributed fashion, where each vehicle is assumed to have simple dynamics, i.e., a double-integrator, with a directed (or an undirected) information flow over the formation graph of the vehicles.