Survivor searching in a dynamically changing flood zone by multiple unmanned aerial vehicles

Asami, Koki; Bai, Yuchuan; Hatayama, Michinori

doi:10.1007/s10015-022-00755-w

Cited by 2 publications

(1 citation statement)

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“…The approach was studied for various scenarios using full nonlinear UAV models. A strategy for searching for survivors in a dynamically changing flood zone using a group of UAVs was proposed in [6]. A robust adaptive controller was proposed for its implementation, the feasibility of which was verified by simulation in the presence of time-varying uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Speed-Gradient Adaptive Control for Parametrically Uncertain UAVs in Formation

et al. 2022

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The paper is devoted to the problem of the decentralized control of unmanned aerial vehicle (UAV) formation in the case of parametric uncertainty. A new version of the feedback linearization approach is proposed and used for a point mass UAV model transformation. As result, a linear model is obtained containing an unknown value of the UAV mass. Employing the speed-gradient design method and the implicit reference model concept, a combined adaptive control law is proposed for a single UAV, including the UAV’s mass estimation and adaptive tuning of the controller parameters. The obtained new algorithms are then used to address the problem of consensus-based decentralized control of the UAV formation. Rigorous stability conditions for control and identification are derived, and simulation results are presented to demonstrate the quality of the closed-loop control system for various conditions.

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Section: Introductionmentioning

confidence: 99%