Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS Middleware

El-Férik, Sami; Almadani, Basem; Elkhider, Siddig M.

doi:10.1109/access.2020.2978008

Cited by 18 publications

(6 citation statements)

References 14 publications

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“…To rectify this problem, adaptive control scheme was proposed by adding a linear filter in the whole control structure 19 . This technique was studied further in 20 for the collaborative UAVs. Note that this scheme doesn’t guarantee the estimate parameters to converge to the actual value of the unknown parameters as it was tuned for the worst-case condition.…”

Section: Related Work and Main Contributionsmentioning

confidence: 99%

Real-time nonlinear parameter estimation and tracking control of unmanned aerial vehicles in closed-loop

Imran

Can

Montazeri

2023

Sci Rep

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The real-time unknown parameter estimation and adaptive tracking control problems are investigated in this paper for a six degrees of freedom (6-DOF) of under-actuated quadrotor unmanned aerial vehicle (UAV). A virtual proportional derivative (PD) controller is designed to maintain the translational dynamics. Two adaptive schemes are developed to handle the attitude dynamics of the UAV with several unknown parameters. In the beginning, a classical adaptive scheme (CAS) using the certainty equivalence principle is proposed and designed. The idea is to design a controller for an ideal situation by assuming the unknown parameters were known. Then the unknown parameters are replaced by their estimation. A theoretical analysis is provided to ensure the trajectory tracking of the adaptive controller. However, an inherent drawback of this scheme is that there is no guarantee for the estimated parameters to converge to the actual values. To address this issue, a new adaptive scheme (NAS) is developed as the next step by adding a continuously differentiable function to the control structure. The proposed technique guarantees handling of the parametric uncertainties with an appropriate design manifold. A rigorous analytical proof, numerical simulation analyses, and experimental validation are presented to show the effectiveness of the proposed control design.

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Section: Related Work and Main Contributionsmentioning

confidence: 99%

Real-time nonlinear parameter estimation and tracking control of unmanned aerial vehicles in closed-loop

Imran

Can

Montazeri

2023

Sci Rep

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“…They concluded that the proposed distributed control algorithm is more efficient than a single UAV system. The added advantage of utilizing DDS middleware for communication between multiple UAV systems are presented and discussed in [93], [94].…”

Section: Dronesmentioning

confidence: 99%

IIoT Based Multimodal Communication Model for Agriculture and Agro-Industries

Almadani

Mostafa

2021

IEEE Access

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The population would reach ten billion by 2050, and experts believe that the agricultural sector needs to boost production by 70% to satisfy the demand. Traditional farming practices rely on primitive technology that creates a yield gap with low productivity. A paradigm shift towards merging new technologies in the agriculture sector would enhance productivity, optimize cost, and encourage sustainable development. In this paper, we review the necessity for the fusion of the Fourth Industrial Revolution technological approach in the agricultural domain. We discuss the gap in supply chain management for the Industrial sector and Agricultural sector and identify the issues of vendor-specific production systems. We propose a multimodal communication model for the systematic integration of multi-vendor agricultural production systems. Our model utilizes the Data Distribution Service (DDS) middleware to enable communication between heterogeneous production systems to perform farming operations in a coordinated manner. Experimental work is conducted on a small-scale hydroponic farm to evaluate the system performance in terms of throughput, latency, and packet delivery ratio (PDR). The throughput for our proposed DDS system has significantly improved with the use of the BATCH QoS policy for payload size less than 1024 bytes. However, we incur an average latency of approximately 235 microseconds for any payload size. The value of PDR is 1 for any payload size ensuring our system to be reliable. The results suggest that our model can enable interoperability between multi-vendor production systems in real-time while incurring minimum latency.

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“…If G's rank is less than Q's dimensions, then Equation ( 8) is under-actuated. A detailed quadrotor dynamic is available in [8,9,25].…”

Section: Dynamics Of Quadrotormentioning

confidence: 99%

“…DDS middleware has been proposed and designed to overcome the issue of the data loss between multiple UAVs, as well as the interoperability issue associated with heterogeneous systems. Therefore, application of the DDS middleware technique augmented with the flocking approach resulted in significant improvements in flexibility, reliability, and portability [8,9].…”

Section: Introduction 1motivationmentioning

confidence: 99%

Publish and Subscribe-Based Formation and Containment Control of Heterogeneous Robotic System with Actuator Time Delay

2021

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This paper addresses the problem of controlling a heterogeneous system composed of multiple Unmanned Aerial Vehicles (UAVs) and Autonomous Underwater Vehicles (AUVs) for formation and containment maintenance. The proposed approach considers actuator time delay and, in addition to formation and containment, considers obstacle avoidance, and offers a robust navigation algorithm and uses a reliable middleware for data transmission and exchange. The methodology followed uses both flocking technique and modified L1 adaptive control to ensure the proper navigation and coordination while avoiding obstacles. The data exchange between all the agents is provided through the data distribution services (DDS) middleware, which solves the interoperability issue when dealing with heterogeneous multiagent systems. The modified L1 controller is a local controller for stabilizing the dynamic model of each UAV and AUV, and the flocking approach is used to coordinate the followers around the leader or within the space delimited by their leaders. Potential Field (PF) allows obstacle avoidance during the agents’ movement. The performance of the proposed approach under the considerations mentioned above are verified and demonstrated using simulations.

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Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS Middleware

Cited by 18 publications

References 14 publications

Real-time nonlinear parameter estimation and tracking control of unmanned aerial vehicles in closed-loop

Real-time nonlinear parameter estimation and tracking control of unmanned aerial vehicles in closed-loop

IIoT Based Multimodal Communication Model for Agriculture and Agro-Industries

Publish and Subscribe-Based Formation and Containment Control of Heterogeneous Robotic System with Actuator Time Delay

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