Collision-free formation tracking control for multiple quadrotors under switching directed topologies: Theory and experiment

Guo, Jinjin; Qi, Juntong; Wang, Mingming; Wu, Chong; Ping, Yuan; Li, Shi; Jin, Jie

doi:10.1016/j.ast.2022.108007

Cited by 6 publications

(8 citation statements)

References 34 publications

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“…The motivation behind this work lies in the use of multiple agents/robots for optimal control [93][94][95]. There exists a vast literature on motion planning and control algorithm for multiple robots.…”

Section: Introductionmentioning

confidence: 99%

“…The literature reflects the widespread adoption of multiple robots due to their effectiveness in displaying and coupling inherent constraints and restrictions, their diverse capabilities, and the variety of real-world applications. These are required for achieving specific control objectives such as formation flight control, surveillance, reconnaissance, construction, warehouse automation, transportation, healthcare, agriculture, mining, cooperative manipulation, search-and-rescue missions, and planetary exploration [41,94]. These applications generally require a high level of system effectiveness, which is the key motivation for using multi-agents.…”

Section: Introductionmentioning

confidence: 99%

“…These applications generally require a high level of system effectiveness, which is the key motivation for using multi-agents. Multiple quadrotors will be able to perform a given task more efficiently in terms of time and cost, implement desired behaviours, easily perform tasks that a single robot cannot perform, improve performance and reliability, and have the advantages of high dispersion perception and actuation, compared to single agents [94][95][96]. Swarming quadrotors with collision avoidance execute collective behaviour to accomplish this tasks.…”

Section: Introductionmentioning

confidence: 99%

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Autonomous control of multiple quadrotors for collision‐free navigation

Raj

Raghuwaiya

Havea

et al. 2023

IET Control Theory & Appl

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This paper addresses the development of a set of novel autonomous control laws for the navigation of multiple mini or micro quadrotors in a workspace populated with cylindrical obstacles. To the authors' knowledge, this is the first time that such a set of control inputs for the autonomous control of multiple quadrotors and avoidance of cylindrical obstacles is being derived from a single Lyapunov function. The avoidance of the cylindrical obstacles is achieved via a Minimum Distance Technique that allows a quadrotor to avoid the closest point on the curved surface of a cylinder at every unit time. In addition, the novel controllers ensure a near-to-horizontal orientation of a quadrotor at every unit time and the hovering motion exhibited by the quadrotor in a neighborhood of its target. The hovering capability has been solved completely in this paper by solving the underactuatedness of the quadrotor which allows for the design of the maximum translational velocities needed for vertical take-off and landing, and hovering. This is important in applications where payloads are sensitive to acrobatic orientations. Computer simulations that mimic real-life scenarios using cylindrical towers as obstacles in a city-like environment illustrates the effectiveness of the controllers.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Autonomous control of multiple quadrotors for collision‐free navigation

Raj

Raghuwaiya

Havea

et al. 2023

IET Control Theory & Appl

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“…Robust autonomous trajectory tracking and stability analysis in presence of the model uncertainties, noise, and strong random bounded disturbances have been highly addressed and considered in either scenario of obstacles free environment 15 or dynamic obstacles avoidance 16 …”

Section: Introductionmentioning

confidence: 99%

“…[12][13][14] Robust autonomous trajectory tracking and stability analysis in presence of the model uncertainties, noise, and strong random bounded disturbances have been highly addressed and considered in either scenario of obstacles free environment 15 or dynamic obstacles avoidance. 16 Quadrotor dynamics are highly nonlinear, furthermore, it is considered an underactuated system, due to the six degrees of freedom (DOF) that are manipulated by only four rotors. The design of a robust position and attitude trajectory tracking control of the quadrotor class of UAV has been the main topic of several studies, especially, when considering noise of sensing, model uncertainties, ignored effects, and external disturbances.…”

mentioning

confidence: 99%

Adaptive neural network based compensation control of quadrotor for robust trajectory tracking

Bouaiss

Mechgoug

Taleb‐Ahmed

et al. 2023

Adaptive Control & Signal

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SummaryNeural network (NN) methods have become increasingly efficient and applicable in control. This article presents a novel nested control strategy based on adaptive radial basis function neural networks (RBFNN) and NN supervised control embedded with integrator back stepping (IBS) for a robust position and attitude trajectory tracking of quadrotor aerial robot in presence of modeling uncertainties, sensing noise, and external bounded disturbance. The control philosophy is derived from the decentralized inverse dynamics, where the adaptive RBFNN is adopted for the outer loop to approximate the unknown external disturbance, and adaptively compensate for their effect. In conjunction with a supervised control that stabilizes the attitude in the inner loop by adaptively compensating the unknown and unmodeled uncertainties, avoiding initial instability of the attitude during NN convergence. Furthermore, noise is attenuated by an adaptive extended Kalman filter. Stability analysis was elaborated using Lyapunov stability theory. Simulation of adaptive RBFNN control philosophy proved robustness and effectiveness compared to proportional integral derivative, IBS, and offline decentralized convolution neural network algorithms as it generates the control law by guarantying a fast convergence of parameters, better external disturbance compensation, and noise attenuation. The proposed scheme of robust tracking was validated.

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