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Explicit Model Following Distributed Control Scheme for Formation Flying of Mini UAVs
Zitieren Sie bitte immer diese URN: urn:nbn:de:bvb:20-opus-146061
- 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 controlA 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.…
Autor(en): | Qasim Ali, Sergio Montenegro |
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URN: | urn:nbn:de:bvb:20-opus-146061 |
Dokumentart: | Artikel / Aufsatz in einer Zeitschrift |
Institute der Universität: | Fakultät für Mathematik und Informatik / Institut für Informatik |
Sprache der Veröffentlichung: | Englisch |
Titel des übergeordneten Werkes / der Zeitschrift (Englisch): | IEEE Access |
Erscheinungsjahr: | 2016 |
Band / Jahrgang: | 4 |
Heft / Ausgabe: | 397-406 |
Originalveröffentlichung / Quelle: | IEEE Access 4 (2016) 397-406. DOI:10.1109/ACCESS.2016.2517203 |
DOI: | https://doi.org/10.1109/ACCESS.2016.2517203 |
Allgemeine fachliche Zuordnung (DDC-Klassifikation): | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik |
Freie Schlagwort(e): | adaptation models; aerodynamics; distributed control; formation flight; intelligent vehicles; mathematical model; model following; quadcopter; robustness; rotors; unmanned aerial vehicle; vehicle dynamics |
Datum der Freischaltung: | 30.03.2017 |
Sammlungen: | Open-Access-Publikationsfonds / Förderzeitraum 2016 |
Anmerkungen: | (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 |
Lizenz (Deutsch): | Deutsches Urheberrecht |