Adaptive Coordinated Formation Control of Heterogeneous Vertical Takeoff and Landing UAVs Subject to Parametric Uncertainties

This article focuses on the solution to the coordinated formation problem of heterogeneous vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) in the presence of parametric uncertainties. In particular, their inertial parameters are distinct and unavailable. For the sake of the accom...

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Veröffentlicht in:IEEE transactions on cybernetics Jg. 52; H. 5; S. 3184 - 3195
Hauptverfasser: Zou, Yao, Zhang, Haojie, He, Wei
Format: Journal Article
Sprache:Englisch
Veröffentlicht: United States IEEE 01.05.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Adaption
Adaptive algorithms
Adaptive control
Control algorithms
Control theory
Decentralized control
distributed control
Estimation
Force
Force distribution
formation control
immersion and invariance (I&I)
Information exchange
Landing
Synthesis
Torque
Uncertainty
Unmanned aerial vehicles
unmanned aerial vehicles (UAVs)
Vertical takeoff
ISSN:2168-2267, 2168-2275, 2168-2275
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Zusammenfassung:This article focuses on the solution to the coordinated formation problem of heterogeneous vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) in the presence of parametric uncertainties. In particular, their inertial parameters are distinct and unavailable. For the sake of the accomplishment of the coordinated formation objective of multiple underactuated VTOL UAVs through local information exchange, an adaptive distributed control algorithm is developed under a cascaded structure. Specifically, by introducing an immersion and invariance (I&I) adaption strategy for the exponential mass estimation, a distributed command force is first synthesized in the position loop. Next, an applied torque with adaption is synthesized for the attitude tracking to a command attitude. This command attitude, as well as the applied thrust, is extracted from the synthesized command force without singularity. It is shown in terms of the Lyapunov theory that driven by the proposed adaptive distributed control algorithm, the concerned coordinated formation control of multiple VTOL UAVs is achieved asymptotically. Finally, an illustrative example is simulated to validate the effectiveness of the proposed control algorithm.
Bibliographie:ObjectType-Article-1
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ISSN:2168-2267
2168-2275
2168-2275
DOI:10.1109/TCYB.2020.3009404