Robust Hurwitz Stability and Performance Analysis of H-Infinity Controlled Forward-Velocity Dynamics of UAVs in Close Formation Flight Using Bounded Phase Conditions in a Kharitonov Framework

Johnson, Y.; Dasgupta, S.

doi:10.1007/s40032-014-0136-y

Cited by 10 publications

(4 citation statements)

References 14 publications

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“…Step 1. For a TVF determined by (6) for the followers, test the formation tracking feasibility condition…”

Section: Algorithm 1 Tvft Protocol Design Algorithmmentioning

confidence: 99%

“…Moreover, it is important for practical control systems to avoid the set point jump, which can be achieved by constructing a transient profile that the output of the agent can reasonably follow. A time-optimal transient profile can be obtained by solving the differential equation (6), where the maximum acceleration of agent i guarantees the fastest convergence from x * i (t) to L without overshoot. Since the multi-agent system (1) is a continuous-time system, the conclusions of this paper should be discretized when it is applied to practical systems.…”

Section: Remarkmentioning

confidence: 99%

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Active Disturbance Rejection Controller Based Time-Varying Formation Tracking for Second-Order Multi-Agent Systems With External Disturbances

Wang

2019

IEEE Access

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In the current paper, time-varying formation tracking (TVFT) problems for second-order multiagent systems with external disturbances are studied. Based on the active disturbance rejection controller, a robust TVFT protocol is proposed, which contains the disturbance compensation. To restrain the influence of external disturbances, an extended state observer is designed to estimate the disturbance compensation using the control input and output information of the system. For the case that the desired formation trajectories are known, an approach to give the time-varying formation with a stationary transient process is proposed by constructing a tracking-differentiator, which actually plan a motion taking the shortest time along the desired trajectories. An algorithm is designed to determine the control parameter matrix of the protocol, in which the formation tracking feasibility condition is given. Finally, to verify the theoretical results, two numerical simulation examples are presented.INDEX TERMS Active disturbance rejection controller, time-varying formation tracking (TVFT), extended state observer, tracking-differentiator.

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“…Step 1. For a TVF determined by (6) for the followers, test the formation tracking feasibility condition…”

Section: Algorithm 1 Tvft Protocol Design Algorithmmentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

Active Disturbance Rejection Controller Based Time-Varying Formation Tracking for Second-Order Multi-Agent Systems With External Disturbances

Wang

2019

IEEE Access

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“…When considering the longitudinal state space data of UAVs, the dimensional stability and control derivatives such as d e , d f , g e , g h , g i , g _`, j e , j h , j i and j _` [ 16]depend on local atmospheric density and hence altitude as well as the longitudinal velocity. The proportionate changes in these two parameters are taken into consideration while changing the available data.…”

Section: Aerodynamic Stability Analysismentioning

confidence: 99%

Aerodynamic Stability Analysis of Two Heterogeneous UAVs in Close Formation Flight System

Johnson¹

2017

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Abstract:The close formation flight of UAVs has many significant advantages over single vehicle flight. The aerodynamic stability analysis of two heterogeneous UAVs in close formation flight is detailed in the present paper. The issues of altitude changes and the associated shifts or changes in centre of gravity or moments, the equivalent actuator control surface deflections etc. are explained with the help of simulations. The short period frequency variations with these changes are also correlated with the help of pole-zero diagrams.

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“…In the past few years, distributed cooperative control of multi-agent systems has aroused great attention from both scientific and engineering communities. [1][2][3][4][5][6] Multi-agent cooperative control problems in previous works [7][8][9][10][11][12][13][14][15][16][17] were solved by consensus-based approach, which requires that the specific state variables of all agents reach an agreement. As an important research topic of cooperative control of multi-agent systems, formation control has been widely applied in transportation, surveillance and rescue, and so on.…”

Section: Introductionmentioning

confidence: 99%

Consensus-based adaptive guaranteed-performance formation control for second-order multi-agent systems

Xie

2019

Advances in Mechanical Engineering

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Adaptive guaranteed-performance formation analysis and design problems for second-order multi-agent systems are studied, where the global information is not required, which means the main results of this article are fully distributed. First, an adaptive guaranteed-performance formation control protocol is presented for second-order multi-agent systems, where the control input is constructed using neighboring state errors and adaptively adjustable interaction weights. Then, an adaptive guaranteed-performance formation control is proposed based on Riccati inequalities. Furthermore, the guaranteed-performance cost is determined and the adjusting approach of the formation control gain is presented in terms of linear matrix inequalities. Finally, a numerical simulation is provided to demonstrate the effectiveness of the theoretical results.

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Robust Hurwitz Stability and Performance Analysis of H-Infinity Controlled Forward-Velocity Dynamics of UAVs in Close Formation Flight Using Bounded Phase Conditions in a Kharitonov Framework

Cited by 10 publications

References 14 publications

Active Disturbance Rejection Controller Based Time-Varying Formation Tracking for Second-Order Multi-Agent Systems With External Disturbances

Active Disturbance Rejection Controller Based Time-Varying Formation Tracking for Second-Order Multi-Agent Systems With External Disturbances

Aerodynamic Stability Analysis of Two Heterogeneous UAVs in Close Formation Flight System

Consensus-based adaptive guaranteed-performance formation control for second-order multi-agent systems

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