Research on Cooperative Formation Flight Control of Multi-UAV with Communication Time Delay

Ma, Peifeng; Ji, Jun; Jiang-bo, Sui; Lei, Ming

doi:10.1109/cseps53726.2021.00017

Cited by 4 publications

(3 citation statements)

References 5 publications

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“…These oscillations are generally caused by bad tuning of the control parameters, or by communication delay between agents. In this sense, some recent studies are trying to attenuate this unintended effect, [33,34].…”

Section: Discussionmentioning

confidence: 99%

A Review of Consensus-based Multi-agent UAV Implementations

Lizzio

Capello

Guglieri

2022

J Intell Robot Syst

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In this paper, a survey on distributed control applications for multi Unmanned Aerial Vehicles (UAVs) systems is proposed. The focus is on consensus-based control, and both rotary-wing and fixed-wing UAVs are considered. On one side, the latest experimental configurations for the implementation of formation flight are analysed and compared for multirotor UAVs. On the other hand, the control frameworks taking into account the mobility of the fixed-wing UAVs performing target tracking are considered. This approach can be helpful to assess and compare the solutions for practical applications of consensus in UAV swarms.

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Section: Discussionmentioning

confidence: 99%

A Review of Consensus-based Multi-agent UAV Implementations

Lizzio

Capello

Guglieri

2022

J Intell Robot Syst

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“…Based on LMIs theory, Ref. [ 32 ] solved the equality communication time delay problem for a group of UAVs. By developing the Lyapunov–Krasovskii (L–K) function, Ref.…”

Section: Introductionmentioning

confidence: 99%

“…Only delayed neighbor information is needed to realize formation flight; that is, the proposed protocol is distributed, and the time-varying formation configuration can be flexibly designed to adapt to target enclosing, area covering and other scenarios. Meanwhile, the disturbances and uncertainties are handled properly by radial basis function neural network (RBFNN) and an adaptive estimator; the application restrictions in real-word environments are relaxed compared to [ 32 , 33 , 34 ].…”

Section: Introductionmentioning

confidence: 99%

Target Enclosing and Coverage Control for Quadrotors with Constraints and Time-Varying Delays: A Neural Adaptive Fault-Tolerant Formation Control Approach

Zhao

Zhu

Zhang

2022

Sensors

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This paper investigates the problem of formation fault-tolerant control of multiple quadrotors (QRs) for a mobile sensing oriented application. The QRs subject to faults, input saturation and time-varying delays can be controlled to perform a target-enclosing and covering task while guaranteeing the state constraints will not be exceeded. A distributed formation control scheme is proposed, using a radial basis function neural network (RBFNN)-based time-delay position controller and an adaptive fault-tolerant attitude controller. The Lyapunov–Krasovskii approach is used to analyze the time-varying delay. Barrier Lyapunov function is deployed to handle the prescribed constraints, and an auxiliary system combined with a command filter is designed to resolve the saturation problem. An RBFNN and adaptive estimators are deployed to provide estimates of disturbances, fault signals and uncertainties. It is proven that all the closed-loop signals are bounded under the proposed protocol, while the prescribed constraints will not be violated, which enhances the flight safety and QR formation’s applicability. Comparative simulations based on application scenarios further verify the effectiveness of the proposed method.

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Fractional-Order Sliding-Mode Fault-Tolerant Control of Unmanned Aerial Vehicles Against Actuator Faults with Time-Delay

Zhou

Zhang

2023

Lecture Notes in Electrical Engineering

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Research on Cooperative Formation Flight Control of Multi-UAV with Communication Time Delay

Cited by 4 publications

References 5 publications

A Review of Consensus-based Multi-agent UAV Implementations

A Review of Consensus-based Multi-agent UAV Implementations

Target Enclosing and Coverage Control for Quadrotors with Constraints and Time-Varying Delays: A Neural Adaptive Fault-Tolerant Formation Control Approach

Fractional-Order Sliding-Mode Fault-Tolerant Control of Unmanned Aerial Vehicles Against Actuator Faults with Time-Delay

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