14670
2016
eng
9108983
2016
article
1
2017-04-03
--
--
Decentralized control for scalable quadcopter formations
An innovative framework has been developed for teamwork of two quadcopter formations, each having its specified formation geometry, assigned task, and matching control scheme. Position control for quadcopters in one of the formations has been implemented through a Linear Quadratic Regulator Proportional Integral (LQR PI) control scheme based on explicit model following scheme. Quadcopters in the other formation are controlled through LQR PI servomechanism control scheme. These two control schemes are compared in terms of their performance and control effort. Both formations are commanded by respective ground stations through virtual leaders. Quadcopters in formations are able to track desired trajectories as well as hovering at desired points for selected time duration. In case of communication loss between ground station and any of the quadcopters, the neighboring quadcopter provides the command data, received from the ground station, to the affected unit. Proposed control schemes have been validated through extensive simulations using MATLAB®/Simulink® that provided favorable results.
International Journal of Aerospace Engineering
10.1155/2016/9108983
urn:nbn:de:bvb:20-opus-146704
International Journal of Aerospace Engineering Volume 2016 (2016), Article ID 9108983, 10 pages http://dx.doi.org/10.1155/2016/9108983
Qasim Ali
Sergio Montenegro
eng
uncontrolled
scalable quadcopter
Datenverarbeitung; Informatik
open_access
Institut für Informatik
Förderzeitraum 2016
Universität Würzburg
https://opus.bibliothek.uni-wuerzburg.de/files/14670/Qasim_9108983.pdf
14606
2016
eng
397-406
4
article
1
2017-03-23
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Explicit Model Following Distributed Control Scheme for Formation Flying of Mini UAVs
A centralized heterogeneous formation flight position control scheme has been formulated using an explicit model following design, based on a Linear Quadratic Regulator Proportional Integral (LQR PI) controller. The leader quadcopter is a stable reference model with desired dynamics whose output is perfectly tracked by the two wingmen quadcopters. The leader itself is controlled through the pole placement control method with desired stability characteristics, while the two followers are controlled through a robust and adaptive LQR PI control method. Selected 3-D formation geometry and static stability are maintained under a number of possible perturbations. With this control scheme, formation geometry may also be switched to any arbitrary shape during flight, provided a suitable collision avoidance mechanism is incorporated. In case of communication loss between the leader and any of the followers, the other follower provides the data, received from the leader, to the affected follower. The stability of the closed-loop system has been analyzed using singular values. The proposed approach for the tightly coupled formation flight of mini unmanned aerial vehicles has been validated with the help of extensive simulations using MATLAB/Simulink, which provided promising results.
IEEE Access
10.1109/ACCESS.2016.2517203
urn:nbn:de:bvb:20-opus-146061
(c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works
IEEE Access 4 (2016) 397-406. DOI:10.1109/ACCESS.2016.2517203
Deutsches Urheberrecht
Qasim Ali
Sergio Montenegro
eng
uncontrolled
quadcopter
eng
uncontrolled
robustness
eng
uncontrolled
intelligent vehicles
eng
uncontrolled
rotors
eng
uncontrolled
mathematical model
eng
uncontrolled
aerodynamics
eng
uncontrolled
adaptation models
eng
uncontrolled
vehicle dynamics
eng
uncontrolled
unmanned aerial vehicle
eng
uncontrolled
distributed control
eng
uncontrolled
formation flight
eng
uncontrolled
model following
Datenverarbeitung; Informatik
open_access
Institut für Informatik
Förderzeitraum 2016
Universität Würzburg
https://opus.bibliothek.uni-wuerzburg.de/files/14606/Ali_07381594.pdf
11449
2015
eng
2776
2784
conferenceobject
International Academy of Technology, Education and Development (IATED)
1
2015-06-16
--
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A Simple Approach to Quadrocopter Formation Flying Test Setup for Education and Development
A simple test setup has been developed at Institute of Aerospace Information Technology, University of Würzburg, Germany to realize basic functionalities for formation flight of quadrocopters. The test environment is planned to be utilized for developing and validating the algorithms for formation flying capability in real environment as well as for education purpose. An already existing test bed for single quadrocopter was extended with necessary inter-communication and distributed control mechanism to test the algorithms for formation flights in 2 degrees of freedom (roll / pitch). This study encompasses the domain of communication, control engineering and embedded systems programming. Bluetooth protocol has been used for inter-communication between two quadrocopters. A simple approach of PID control in combination with Kalman filter has been exploited. MATLAB Instrument Control Toolbox has been used for data display, plotting and analysis. Plots can be drawn in real-time and received information can also be stored in the form of files for later use and analysis. The test setup has been developed indigenously and at considerably low cost. Emphasis has been placed on simplicity to facilitate students learning process. Several lessons have been learnt during the course of development of this setup. Proposed setup is quite flexible that can be modified as per changing requirements.
INTED2015 Proceedings
978-84-606-5763-7
2340-1079
urn:nbn:de:bvb:20-opus-114495
INTED2015 Proceedings: 9th International Technology, Education and Development Conference Madrid, Spain. 2-4 March, 2015., S. 2776 - 2784, ISBN 978-84-606-5763-7.
Deutsches Urheberrecht
Qasim Ali
Sergio Montenegro
deu
swd
Flugkörper
eng
uncontrolled
Design and Development
eng
uncontrolled
Formation Flight
eng
uncontrolled
Instrument Control Toolbox
eng
uncontrolled
Quadrocopter
eng
uncontrolled
Unmanned Aerial Vehicle
deu
swd
Quadrocopter
Datenverarbeitung; Informatik
Hardware
Software
Computer Applications
open_access
Institut für Informatik
Universität Würzburg
https://opus.bibliothek.uni-wuerzburg.de/files/11449/Conference Paper INTED2015_Qasim.pdf