TY  - JOUR
A1  - Ali, Qasim
A1  - Montenegro, Sergio
T1  - Explicit Model Following Distributed Control Scheme for Formation Flying of Mini UAVs
JF  - IEEE Access
N2  - 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.
KW  - quadcopter
KW  - robustness
KW  - intelligent vehicles
KW  - rotors
KW  - mathematical model
KW  - aerodynamics
KW  - adaptation models
KW  - vehicle dynamics
KW  - unmanned aerial vehicle
KW  - distributed control
KW  - formation flight
KW  - model following
Y1  - 2016
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-146061
N1  - (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
VL  - 4
IS  - 397-406
ER  - 
TY  - THES
A1  - Mitesser, Oliver
T1  - The evolution of insect life history strategies in a social context
T1  - Die Evolution von Lebenslaufstrategien bei Insekten in sozialem Kontext
N2  - This thesis extends the classical theoretical work of Macevicz and Oster (1976, expanded by Oster and Wilson, 1978) on adaptive life history strategies in social insects. It focuses on the evolution of dynamic behavioural patterns (reproduction and activity) as a consequence of optimal allocation of energy and time resources. Mathematical modelling is based on detailed empirical observations in the model species Lasioglossum malachurum (Halictidae; Hymenoptera). The main topics are field observations, optimisation models for eusocial life histories, temporal variation in life history decisions, and annual colony cycles of eusocial insects.
N2  - Diese Dissertation entwickelt die klassische theoretische Arbeit von Macevicz und Oster (1976, erweitert von Oster und Wilson, 1978) zu adaptiven Lebenslaufstrategien bei sozialen Insekten fort. Der Schwerpunkt liegt dabei auf der Evolution von dynamischen Verhaltensmustern (Reproduktion und Aktivität) als Resultat optimaler Allokation von Energie- und Zeitressourcen. Die mathematische Modellierung erfolgt auf Basis detaillierter Beobachtungsdaten zum Koloniezyklus der Furchenbiene Lasioglossum malachurum (Halictidae; Hymenoptera). Zentrale Themenbereiche sind Freilandbeobachtungen, Optimierungsmodelle für eusoziale Lebenslaufstrategien, zeitliche Variabilität bei Lebenslaufentscheidungen und der jährliche Koloniezyklus eusozialer Insekten.
KW  - Schmalbienen
KW  - Insektenstaat
KW  - Lebensdauer
KW  - Evolution
KW  - Mathematisches Modell
KW  - Evolution
KW  - Lebenslaufstrategien
KW  - soziale Insekten
KW  - mathematische Modellierung
KW  - Halictidae
KW  - evolution
KW  - life history strategy
KW  - social insects
KW  - mathematical model
KW  - Halictidae
Y1  - 2006
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-22576
ER  -