A comparative study of robust attitude synchronization controllers for multiple 3-DOF helicopters

Zhu, Bin; Zhang, Qingrui; Liu, Hugh Hong-Tao

doi:10.1109/acc.2015.7172275

Cited by 12 publications

(1 citation statement)

References 24 publications

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“…In terms of results in [33], [34], [35], a stable low-pass filter G ρi (s) with unity gain is used to estimate…”

Section: A Uncertainty and Disturbance Observer Designmentioning

confidence: 99%

Robust Cooperative Formation Control of Fixed-Wing Unmanned Aerial Vehicles

Zhang¹,

Liu²

2019

Preprint

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Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is employed to resolve the difficulty in designing virtual leaders for a large number of UAVs in formation flight. To improve the transient performance, desired trajectories are passed through a group of cooperative filters to generate smooth reference signals, namely the states of the virtual leaders. Model uncertainties due to aerodynamic couplings among UAVs are estimated and compensated using uncertainty and disturbance observers. The entire design, therefore, contains three major components: cooperative filters for motion planning, baseline cooperative control, and uncertainty and disturbance observation. The proposed formation controller could at least secure ultimate bounded control performance for formation tracking. If certain conditions are satisfied, asymptotic formation tracking control could be obtained. Major contributions of this paper lie in two aspects: 1) the difficulty in designing virtual leaders is resolved in terms of the virtual structure concept; 2) a robust cooperative controller is proposed for close formation flight of a large number of UAVs suffering from aerodynamic couplings in between. The efficiency of the proposed design will be demonstrated using numerical simulations of five UAVs in close formation flight.

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“…In terms of results in [33], [34], [35], a stable low-pass filter G ρi (s) with unity gain is used to estimate…”

Section: A Uncertainty and Disturbance Observer Designmentioning

confidence: 99%

Robust Cooperative Formation Control of Fixed-Wing Unmanned Aerial Vehicles

Zhang¹,

Liu²

2019

Preprint

Self Cite

View full text Add to dashboard Cite

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Robust Cooperative Close Formation Flight Control of Multiple Unmanned Aerial Vehicles

Zhang

Liu

2019

Lecture Notes in Mechanical Engineering

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This paper investigates the close formation control problem of multiple unmanned aerial vehicles (UAVs). A robust cooperative control algorithm is proposed in light of the uncertainty and disturbance estimation technique. In the proposed design, each UAV is assigned a virtual leader which defines the desired position for the corresponding UAV in close formation. Bidirectional communication topology is assumed for UAVs in close formation, based on which a cooperative control law is thereafter established on each UAV. Model uncertainties and formation aerodynamic disturbances are efficiently estimated and compensated using a uncertainty and disturbance estimator. Eventually, the efficacy of the proposed design will be validated via the close formation simulation of five aircraft.

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Adaptive Neural Network-Based Dynamic Surface Control for a 3-DoF Helicopter

Mokhtari

2024

J Control Autom Electr Syst

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A comparative study of robust attitude synchronization controllers for multiple 3-DOF helicopters

Cited by 12 publications

References 24 publications

Robust Cooperative Formation Control of Fixed-Wing Unmanned Aerial Vehicles

Robust Cooperative Formation Control of Fixed-Wing Unmanned Aerial Vehicles

Robust Cooperative Close Formation Flight Control of Multiple Unmanned Aerial Vehicles

Adaptive Neural Network-Based Dynamic Surface Control for a 3-DoF Helicopter

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