Decentralized output-feedback formation control of multiple 3-DOF laboratory helicopters

Li, Zhan; Xing, Xing; Yu, Jinyong

doi:10.1016/j.jfranklin.2014.11.023

Cited by 21 publications

(10 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Experimental results showed that the proposed output-feedback controller can achieve equivalent performance with respect to other methods using angular velocity measurements, and also demonstrated more consistent performance when the initial position of the system is far from design point. Our future work is to extend the result to multi-helicopter cases, and examine its effectiveness on applications such as formation control and attitude synchronization [31]- [33].…”

Section: Discussionmentioning

confidence: 99%

Nonlinear Robust Attitude Tracking Control of a Table-Mount Experimental Helicopter Using Output Feedback

Liu

Zhu

et al. 2015

IEEE Trans. Ind. Electron.

Self Cite

View full text Add to dashboard Cite

This work proposes a robust attitude tracking controller for a table-mounted experimental helicopter which has three rotational degree-of-freedom and only equips angular position sensors. The proposed controller can achieve outputfeedback attitude tracking of the pitch and elevation channels of the helicopter. The experimental platform is subjected to model uncertainties, coupling effects, and equips with an independent active disturbance system, which have effectively examined the robustness of proposed controller. The control law includes a second-order auxiliary system to generate filtered error signals, and a discontinuous uncertainty and disturbance estimation (UDE) term to compensate the model uncertainties and external disturbances. A Lyapunov based stability analysis shows the semiglobal asymptotic tracking ability of the proposed controller. The experimental results further demonstrate the propose method can achieve equivalent dynamic and static performance compare to other high-performance state-feedback methods, and even when the initial position is away from design point, it also gives more consistent responses than other linear methods.

show abstract

Section: Discussionmentioning

confidence: 99%

Nonlinear Robust Attitude Tracking Control of a Table-Mount Experimental Helicopter Using Output Feedback

Liu

Zhu

et al. 2015

IEEE Trans. Ind. Electron.

Self Cite

View full text Add to dashboard Cite

show abstract

“…To successfully complete the above tasks, flight control of unmanned helicopters is very important and has practical significance. However, their flight control faces several severe challenges, such as highly nonlinear dynamic models, serious couplings among different channels, unmodelled dynamics, uncertain model parameters, and external disturbances (e.g., wind gusts and ground effects) (Li et al, 2015a(Li et al, , 2015bLiu et al, 2012;Marantos et al, 2017;Raptis and Valavanis, 2010;Yan et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Attitude and height tracking control of unmanned helicopters with disturbances via disturbance observer-based composite dynamic surface control

Wang

Han

Liu³

2021

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

In this paper, the attitude and height tracking control problem is studied for unmanned helicopters with disturbances. To solve the problem, a composite control scheme is proposed based on the combination of dynamic surface control and disturbance observer-based control techniques. The control design includes two parts. In the first part, some nonlinear disturbance observers are designed to accurately estimate the helicopter’s disturbances in different channels. In the second part, based on the disturbance estimates and dynamic surface control technique, a composite dynamic surface tracking controller is designed. Under the proposed composite controller, the attitude and height tracking errors are uniformly ultimately bounded and they can be regulated to be very small by selecting proper controller parameters. For one thing, the proposed control scheme avoids “explosion of terms”, which generally exists in conventional backstepping control and provides a simpler control design. For another thing, without sacrificing the nominal control performances, the anti-disturbance ability of the closed-loop helicopter system is enhanced by using disturbance observers and feedforward compensations. Numerical simulations demonstrate the effectiveness and advantages of the proposed composite tracking controller.

show abstract

“…In the view of communication networks, the existing formation control approaches can be classified into the centralized method, where a single controller is used to control the whole team based on the information from the whole team [7] and the decentralized method, where each team member generates its own control based on local information from its neighbors [1,2,4,[8][9][10][11]. Centralized formation control can be a good strategy for a small team of UAVs.…”

Section: Introductionmentioning

confidence: 99%

“…Such desired behaviors may include cohesion, collision avoidance, obstacle avoidance. In the virtual structure/virtual leader approach [4,9,11], the entire formation is treated as a single rigid body. The virtual structure can evolve as a whole in a given direction with some given orientation and can maintain a rigid geometric relationship among multiple vehicles.…”

Section: Introductionmentioning

confidence: 99%

A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs

Cordeiro

Ishihara

Ferreira

2020

Sensors

View full text Add to dashboard Cite

In this paper, a nonlinear robust formation flight controller for a swarm of unmanned aerial vehicles (UAVs) is presented. It is based on the virtual leader approach and is capable of achieving and maintaining a formation with time-varying shape. By using a decentralized architecture, the local controller in each UAV uses information only from the UAV itself, its neighbors, and from the virtual leader. Also, a synchronization control objective provides a mechanism to weight between the fleet achieving the desired formation shape, that is, achieving the desired relative position between the UAVs, and each UAV achieving its desired absolute position. The use of a combination of a sliding mode controller and a low pass filter reduces the usual chattering effect, providing a smooth control signal while maintaining robustness. Simulation results show the effectiveness of the proposed decentralized controller.

show abstract

Decentralized output-feedback formation control of multiple 3-DOF laboratory helicopters

Cited by 21 publications

References 32 publications

Nonlinear Robust Attitude Tracking Control of a Table-Mount Experimental Helicopter Using Output Feedback

Nonlinear Robust Attitude Tracking Control of a Table-Mount Experimental Helicopter Using Output Feedback

Attitude and height tracking control of unmanned helicopters with disturbances via disturbance observer-based composite dynamic surface control

A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs

Contact Info

Product

Resources

About