Consensus-based three-dimensionalmulti-UAV formation control strategy with high precision

Yan, Maode; Zhu, Xu; Zhang, Xunxun; Qu, Yaohong

doi:10.1631/fitee.1600004

Cited by 34 publications

(6 citation statements)

References 5 publications

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“…Dong et al (2016) applied the consensus method to address the switching and input-constrained issues in the formation of rotary-wing UAVs. Yan et al (2017) proposed a high-precision control strategy based on consensus for the three-dimensional formation problem of unmanned aircraft.…”

Section: Introductionmentioning

confidence: 99%

Formation fault-tolerant control for multiple UAVs with external disturbances

Ma,

Gong,

Wang

2024

AEAT

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Purpose The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for multiple unmanned aerial vehicles (UAVs) during actuator failures and external perturbations. Design/methodology/approach First, this study developed the formation tracking protocol for each follower using UAV formation members, defining the tracking inaccuracy of the UAV followers’ location. Subsequently, this study designed the multilayer event-triggered controller based on the backstepping method framework within finite time. Then, considering the actuator failures, and added self-adaptive thought for fault-tolerant control within finite time, the event-triggered closed-loop system is subsequently shown to be a finite-time stable system. Furthermore, the Zeno behavior is analyzed to prevent infinite triggering instances within a finite time. Finally, simulations are conducted with external disturbances and actuator failure conditions to demonstrate formation tracking controller performance. Findings It achieves improved performance in the presence of external disturbances and system failures. Combining limited-time adaptive control and event triggering improves system stability, increase robustness to disturbances and calculation efficiency. In addition, the designed formation tracking controller can effectively control the time-varying formation of the leader and followers to complete the task, and by adding a fixed-time observer, it can effectively compensate for external disturbances and improve formation control accuracy. Originality/value A formation-following controller is designed, which can handle both external disturbances and internal actuator failures during formation flight, and the proposed method can be applied to a variety of formation control scenarios and does not rely on a specific type of UAV or communication network.

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Section: Introductionmentioning

confidence: 99%

Formation fault-tolerant control for multiple UAVs with external disturbances

Ma,

Gong,

Wang

2024

AEAT

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“…[1][2][3] The purpose of cooperative control of multiple UAVs is to drive multiple UAVs to form up and follow the desired trajectory in the least amount of time. According to different control structures, the main approaches for UAV formation consist of behavior approach, 4 leader-following approach, 5 virtual structure approach, 6 consensus theory, 7 artificial potential field, 8 and graph theory. In addition, some more advanced strategies have been presented based on cooperative control theory.…”

Section: Introductionmentioning

confidence: 99%

Finite time fault tolerant tracking control for multiple unmanned aerial vehicles with actuator faults

Qian

Zhang

et al. 2022

Adaptive Control & Signal

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An adaptive fast nonsingular integral terminal sliding mode control scheme is proposed for the distributed formation control problem of multiple unmanned aerial vehicles (UAVs) affected by actuator faults and external disturbances.In order to achieve a good cooperative tracking performance of UAVs during mission execution, the adverse effect of the lumped disturbances composed of actuator failures, wind and vortex disturbances is estimated by the cerebellar model articulation neural network, meanwhile the tangent function is introduced to eliminate the chattering of the sliding mode. Then the analysis of superior convergence performance of the fast nonsingular integral terminal sliding manifold is implemented, and the finite time stability of the closed-loop formation flight control system is proved. Finally, the simulation experiments verify that the proposed approach is superior to the nonsingular integral terminal sliding mode control for the formation control system of faulty multiple UAVs.

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“…In the literature, approaches for formation problems can be categorized into the consensus-based [2]- [4], artificial potential function-based [5]- [7], leader-follower (L-F) [8]- [10], observer-based [11], behavior-based and virtual structure [12], [13] methods. Among them, the virtual structure formation is more relevant for visual inspection as it enables quick reconfiguration which is essential in cases of failure in communication, sensor/actuator, flight path constraints or even the loss of one or more agents.…”

Section: Introductionmentioning

confidence: 99%

Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO

Hoang

Phung

Dinh

et al. 2019

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)

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In this paper, we propose an algorithm for the formation of multiple UAVs used in vision-based inspection of infrastructure. A path planning algorithm is first developed by using a variant of the particle swarm optimisation, named θ-PSO, to generate a feasible path for the overall formation configuration taken into account the constraints for visual inspection. Here, we introduced a cost function that includes various constraints on flight safety and visual inspection. A reconfigurable topology is then added based on the use of intermediate waypoints to allow the formation to avoid collision with obstacles during operation. The planned path and formation are then combined to derive the trajectory and velocity profiles for each UAV. Experiments have been conducted for the task of inspecting a light rail bridge. The results confirmed the validity and effectiveness of the proposed algorithm.

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Consensus-based three-dimensionalmulti-UAV formation control strategy with high precision

Cited by 34 publications

References 5 publications

Formation fault-tolerant control for multiple UAVs with external disturbances

Formation fault-tolerant control for multiple UAVs with external disturbances

Finite time fault tolerant tracking control for multiple unmanned aerial vehicles with actuator faults

Reconfigurable Multi-UAV Formation Using Angle-Encoded PSO

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