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Explicit Model Following Distributed Control Scheme for Formation Flying of Mini UAVs

Please always quote using this 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.show moreshow less

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Metadaten
Author: Qasim Ali, Sergio Montenegro
URN:urn:nbn:de:bvb:20-opus-146061
Document Type:Journal article
Faculties:Fakultät für Mathematik und Informatik / Institut für Informatik
Language:English
Parent Title (English):IEEE Access
Year of Completion:2016
Volume:4
Issue:397-406
Source:IEEE Access 4 (2016) 397-406. DOI:10.1109/ACCESS.2016.2517203
DOI:https://doi.org/10.1109/ACCESS.2016.2517203
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Tag:adaptation models; aerodynamics; distributed control; formation flight; intelligent vehicles; mathematical model; model following; quadcopter; robustness; rotors; unmanned aerial vehicle; vehicle dynamics
Release Date:2017/03/30
Note:
(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
Collections:Open-Access-Publikationsfonds / Förderzeitraum 2016
Licence (German):License LogoDeutsches Urheberrecht