Control of Multi-Agent Collaborative Fixed-Wing UASs in Unstructured Environment

Kim, A Ram; Keshmiri, Shawn; Blevins, Aaron; Shukla, Daksh; Huang, Weizheng

doi:10.1007/s10846-019-01057-3

Cited by 19 publications

(2 citation statements)

References 31 publications

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“…Regarding the research work on the location selection of logistics planning, there are many methods that are relatively mature at present [11]. According to the space allowed by the facility, they can be mainly divided into two methods: continuous model and discrete model.…”

Section: Related Workmentioning

confidence: 99%

Optimal Control of the Logistics Automation Transmission System Based on Partial Differential Equation

2022

Mathematical Problems in Engineering

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In this paper, the finite difference scheme of the spatiotemporal fractional convection-diffusion equation is established, and its stability and convergence are proved. Furthermore, this discrete technique is extended to solve nonlinear spatiotemporal fractional convection-diffusion equations. By using the Krylov subspace method to solve the discrete system, the numerical solution of the spatiotemporal fractional convection-diffusion equation can be obtained quickly. In this paper, an efficient optimal control algorithm is proposed to solve the free control problem of a class of nonlinear time-delay systems. We obtained the optimal control law of the system through the Bellman optimality principle, obtained the asymptotic stability criterion of the system in the form of LMI under the optimal control input by using the Lyapunov stability theory, and discussed the effect of the delay parameter on the system stability. Using the principle of intelligent neural network approximation function, the evaluation neural network and the execution neural network are used to approximate the optimal performance index function and optimal control input, respectively, the optimal control strategy of the system is obtained, and the convergence of the weight estimation error is proved to be optimal. On the basis of optimal state adjustment, the optimal tracking control problem is further solved. Numerical example results verify the effectiveness of the proposed method in terms of stability analysis, optimal state control, and optimal tracking control for the nonlinear time-delay system proposed in this paper. We calculate the parameters of the conveyor and select a reasonable transmission and sorting mechanism to realize the speed regulation of the driving motor of each mechanism. Through the work of each part, the design scheme of the automatic transmission system is formed, and the reliability, practicability, and economy of the system are guaranteed.

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Section: Related Workmentioning

confidence: 99%

Optimal Control of the Logistics Automation Transmission System Based on Partial Differential Equation

2022

Mathematical Problems in Engineering

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“…Unmanned aerial vehicle (UAV) swarm is an inevitable trend for the aerospace industry [1], and flocking navigation is one of its spotlights. Flocking behavior refers to a group-level phenomenon that occurs through simple individual interactions, where individuals are guided by the local rules rather than central coordination [2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Towards Flocking Navigation and Obstacle Avoidance for Multi-UAV Systems through Hierarchical Weighting Vicsek Model

et al. 2021

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Flocking navigation and obstacle avoidance in complex environments remain challenging for multiple unmanned aerial vehicle (multi-UAV) systems, especially when only one UAV (termed as information UAV) knows the predetermined path and the communication range is limited. To this end, we propose a hierarchical weighting Vicsek model (HWVEM). In this model, a hierarchical weighting mechanism and an obstacle avoidance mechanism are designed. Based on the hierarchical weighting mechanism, all the UAVs are divided into different layers, and assigned with different weights according to the layer to which they belong. The purpose is to align the rest of UAVs with the information UAV more efficiently. Subsequently, the obstacle avoidance mechanism that utilizes only the local information is developed to ensure the system safety in an environment filled with obstacles differing in size and shape. A series of simulations have been conducted to demonstrate the high performance of HWVEM in terms of convergence time, success rate, and safety.

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Genetic Algorithm Based PID Parameter Optimization for Longitudinal Dynamics of a Fixed Wing Mini UAV

Ulus

Eski

2021

Proceedings of I4SDG Workshop 2021

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Control of Multi-Agent Collaborative Fixed-Wing UASs in Unstructured Environment

Cited by 19 publications

References 31 publications

Optimal Control of the Logistics Automation Transmission System Based on Partial Differential Equation

Optimal Control of the Logistics Automation Transmission System Based on Partial Differential Equation

Towards Flocking Navigation and Obstacle Avoidance for Multi-UAV Systems through Hierarchical Weighting Vicsek Model

Genetic Algorithm Based PID Parameter Optimization for Longitudinal Dynamics of a Fixed Wing Mini UAV

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