Distributed Consensus Control of Multiple UAVs in a Constrained Environment

State-Transformation-Based Recursive Design Strategy for Leader-Follower Safety Formation Control of Uncertain Multiple Quadrotors

“…Additionally, the position model combines state variables φ j and θ j with trigonometrical functions (see R j (q j )u(F j ) given in ( 1)), which makes it challenging to design a recursive control system that unifies the position and attitude dynamics. To address this problem, most of the existing studies [10], [11], [12], [13], [14], [15], [16], [17], [18] have used a hierarchical design strategy. This strategy is aimed at deriving the desired roll φ d,j and pitch θ d,j angles under the assumption that φ j = φ d,j and θ j = θ j,d .…”

“…Reinforcement learning was applied for the model-free formation control of underactuated quadrotors [17]. A distributed consensus control considering a constrained environment was developed for multiple quadrotors [18]. Despite these efforts, the hierarchical design strategy-based methods [10], [11], [12], [13], [14], [15], [16], [17], [18] encounter the following problems: When deriving the desired roll and pitch angles, they are assumed to be equal to the actual angles of the quadrotor.…”

“…A distributed consensus control considering a constrained environment was developed for multiple quadrotors [18]. Despite these efforts, the hierarchical design strategy-based methods [10], [11], [12], [13], [14], [15], [16], [17], [18] encounter the following problems: When deriving the desired roll and pitch angles, they are assumed to be equal to the actual angles of the quadrotor. However, this assumption can be restrictive because angular errors occur inevitably during transient responses.…”

“…The main contributions of this study are twofold: First, compared with the existing hierarchical control strategies [10], [11], [12], [13], [14], [15], [16], [17], [18], we develops a novel state-transformation-based formation control method to relax the assumption that the desired roll and pitch angles are the same as the actual angles of the quadrotor. In this manner, the controller for the position and attitude dynamics can be unified in a recursive design, unlike the existing studies [10], [11], [12], [13], [14], [15], [16], [17], [18] that hierarchically divide the position and attitude dynamics. Consequently, the proposed design approach can consider external disturbances in the position model and transient response of attitude tracking, thereby enhancing the formation tracking performance with low torque inputs and resulting in increased operation time for practical application.…”

Distributed Adaptive Finite-Time Consensus for High-Order Multi-Agent Systems with Intermittent Communications under Switching Topologies

“…Consensus control means that the states of all agents converge to a same value. It has been widely applied in many applications, such as formation control, which includes spacecraft attitude control [2,3], multi-robot cooperative control [4] and unmanned aerial vehicle (UAV) consensus control [5,6]. Other fields like smart power grid systems [7], intelligent transportation systems [8] and target tracking [9] have also generated numerous new application scenarios.…”