Flocking of quad-rotor UAVs with fuzzy control

Mao, Xiang; Zhang, Hongbin; Wang, Yanhui

doi:10.1016/j.isatra.2018.01.024

Cited by 20 publications

(12 citation statements)

References 14 publications

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“…Recently, because of many advantages of Euler-Lagrange systems (ELSs), such as robustness, high adaptivity, better flexibility, and low cost of operation, there has been an increasing interest in the study of the consensus of ELSs, especially for multiple ELSs systems. And the systems mentioned above are due to the wide range of applications of distributed control in the field of multi-agent control, such as leader-following consensus, 1 distributed protocol, 2,3 coordinated tracking, 4,5 flocking, 6,7 and formation tracking [8][9][10] have also been studied. Event-triggered control has been increasingly investigated in recent years because it does not require constant communication and offers significant savings in control costs.…”

Section: Introductionmentioning

confidence: 99%

Leader‐following consensus of multiple uncertain Euler–Lagrange systems under denial‐of‐service attacks

Xiao

Zhan

et al. 2022

Intl J Robust & Nonlinear

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In this thesis, we investigate a novel problem of security performance and consensus of multiple uncertain Euler-Lagrange systems (ELSs) under denial-of-service (DoS) attacks. First, we address how to make the system still function properly when the communication channel is cut off with intermittent DOS attacks by means of an event-triggered mechanism. At the same time, due to the uncertainty of the system there, we introduce an exosystem to generate signals so that the global information can be observed normally by distributed observers. Then, ELSs can be consensus while still ensuring its security. Furthermore, on the basis of this adaptive distributed observer functioning in the system, the problem for multiple ELSs of leader-following consensus is solved by using the Lyapunov method and the deterministic equivalence principle.Finally, numerical simulations are carried out to demonstrate the effectiveness of the proposed strategies. K E Y W O R D Sdenial-of-service (DoS) attacks, event-triggered, leader-following consensus, multiple Euler-Lagrange systems (ELSs), sampled-data-based

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Section: Introductionmentioning

confidence: 99%

Leader‐following consensus of multiple uncertain Euler–Lagrange systems under denial‐of‐service attacks

Xiao

Zhan

et al. 2022

Intl J Robust & Nonlinear

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“…Much literature has exploited the uncertainty handling capabilities of fuzzy logic in diverse application domains of robots, including climbing robotics [ 32 , 33 ], autonomous vehicles [ 34 , 35 ], aerial robotics [ 36 , 37 ], and maintenance and inspection robotics [ 38 , 39 ]. In particular, fuzzy logic has often been utilized for navigating robots in unknown environments.…”

Section: Introductionmentioning

confidence: 99%

Collision Avoidance and Stability Study of a Self-Reconfigurable Drainage Robot

Parween

Muthugala

Heredia

et al. 2021

Sensors

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The inspection and maintenance of drains with varying heights necessitates a drain mapping robot with trained labour to maintain community hygiene and prevent the spread of diseases. For adapting to level changes and navigating in the narrow confined environments of drains, we developed a self-configurable hybrid robot, named Tarantula-II. The platform is a quadruped robot with hybrid locomotion and the ability to reconfigure to achieve variable height and width. It has four legs, and each leg is made of linear actuators and modular rolling wheel mechanisms with bi-directional movement. The platform has a fuzzy logic system for collision avoidance of the side wall in the drain environment. During level shifting, the platform achieves stability by using the pitch angle as the feedback from the inertial measuring unit (IMU) mounted on the platform. This feedback helps to adjust the accurate height of the platform. In this paper, we describe the detailed mechanical design and system architecture, kinematic models, control architecture, and stability of the platform. We deployed the platform both in a lab setting and in a real-time drain environment to demonstrate the wall collision avoidance, stability, and level shifting capabilities of the platform.

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“…Owing to its effectiveness and excellent control performance, the control method in [14] was extended to solve the output tracking problem for a group of strict-feedback nonlinear large-scale systems in [15]. Moreover, trajectory tracking control problem for multiple quad-rotor UAVs is solved by designing an adaptive fuzzy control scheme in [16]. Although effective, the relevant adaptive schemes based on the NN and fuzzy logic system are only valid in the relevant compact set.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fault-Tolerant Guaranteed Performance Control for Euler-Lagrange Systems With Its Application to a 2-Link Robotic Manipulator

Zhang

Cheng

2020

IEEE Access

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This paper investigates a novel adaptive fault-tolerant guaranteed performance control problem for Euler-Lagrange systems subject to unknown actuator faults. Firstly, a barrier Lyapunov function instead of logarithmic transformation is constructed to handle the performance constraints imposed on the controlled system. Then, an adaptive control scheme is devised to guarantee the prescribed tracking performance with consideration of the unknown actuator faults. Compared with the existing works, the prominent advantage of the proposed control method is that the detailed actuator fault information is not required to identify online and the complex logarithmic transformation is avoided. In this sense, the complexity of the developed controller is decreased dramatically, which is easily achievable in practice. Finally, application to a 2-link robotic manipulator is organized to validate the effectiveness of the proposed control method.

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Flocking of quad-rotor UAVs with fuzzy control

Cited by 20 publications

References 14 publications

Leader‐following consensus of multiple uncertain Euler–Lagrange systems under denial‐of‐service attacks

Leader‐following consensus of multiple uncertain Euler–Lagrange systems under denial‐of‐service attacks

Collision Avoidance and Stability Study of a Self-Reconfigurable Drainage Robot

Adaptive Fault-Tolerant Guaranteed Performance Control for Euler-Lagrange Systems With Its Application to a 2-Link Robotic Manipulator

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