This book is based on the authors’ recent research results on formation control problems, including time-varying formation, communication delays, fault-tolerant formation for multiple UAV systems with highly nonlinear and coupled, parameter uncertainties, and external disturbances.
Differentiating from existing works, this book presents a robust optimal formation approach to designing distributed cooperative control laws for a group of UAVs, based on the linear quadratic regulator control method and the robust compensation theory. The proposed control method is composed of two parts: the nominal part to achieve desired tracking performance and the robust compensation part to restrain the influence of highly nonlinear and strongly coupled parameter uncertainties, and external disturbances on the global closed-loop control system. Furthermore, this book gives proof of their robust properties. The influence of communication delays and actuator fault tolerance can be restrained by the proposed robust formation control protocol, and the formation tracking errors can converge into a neighborhood of the origin bounded by a given constant in a finite time. Moreover, the book provides details about the practical application of the proposed method to design formation control systems for multiple quadrotors and tail-sitters. Additional features include a robust control method that is proposed to address the formation control problem for UAVs and theoretical and experimental research for the cooperative flight of the quadrotor UAV group and the tail-sitter UAV group.
Robust Formation Control for Multiple Unmanned Aerial Vehicles is suitable for graduate students, researchers, and engineers in the system and control community, especially those engaged in the areas of robust control, UAV swarming, and multi-agent systems.
Author(s): Hao Liu, Deyuan Liu, Yan Wan, Kimon P. Valavanis, Frank L. Lewis
Series: Automation and Control Engineering
Publisher: CRC Press
Year: 2022
Language: English
Pages: 144
City: Boca Raton
Cover
Half Title
Series Page
Title Page
Copyright Page
Table of Contents
Preface
Authors
1. Introduction and Background
1.1 Background
1.2 Literature Review on Formation Control for UAVs
1.2.1 UAV Formation Experiment
1.2.2 Research on UAV Formation Control Method
1.3 Formation Platform
1.3.1 Introduction of Quadrotor Formation Hardware System
1.3.2 Airborne Sensors
1.3.3 Indoor Positioning System Based on UWB Technology
1.3.4 Communication Module
1.4 Preview of Chapters
2. Robust Formation Control for Multiple Quadrotors with Nonlinearities and Disturbances
2.1 Introduction
2.2 Preliminaries and Problem Formulation
2.2.1 Quadrotor Model
2.2.2 Preliminaries on Graph Theory
2.2.3 Problem Formulation
2.3 Formation Protocol Design and System Analysis
2.3.1 Position Controller Design
2.3.2 Attitude Controller Design
2.3.3 System Analysis
2.4 Numerical Simulation Results
2.5 Conclusion
3. Robust Formation Trajectory Tracking Control for Multiple Quadrotors with Communication Delays
3.1 Introduction
3.2 Preliminaries and Problem Formulation
3.2.1 Quadrotor Model
3.2.2 Problem Formulation
3.3 Controller Design
3.3.1 Position Controller Design
3.3.2 Attitude Controller Design
3.4 Robustness Property Analysis
3.5 Experimental Results
3.6 Conclusion
4. Robust Formation Tracking Control for Multiple Quadrotors Subject to Switching Topologies
4.1 Introduction
4.2 Preliminaries and Problem Description
4.2.1 Graph Theory
4.2.2 System Model
4.2.3 Problem Description
4.3 Formation Control Protocol Design
4.3.1 Position Controller Design
4.3.2 Attitude Controller Design
4.4 Global System Analysis
4.5 Simulation Results
4.6 Conclusion
5. Robust Time-Varying Formation Control for Tail-Sitters in Flight Mode Transitions
5.1 Introduction
5.2 Preliminaries and Problem Statement
5.2.1 Model of Tail-Sitter Aircraft
5.2.2 Control Problem Statement
5.3 Robust Formation Controller Design
5.3.1 Trajectory Tracking Controller Design
5.3.2 Attitude Controller Design
5.4 Robust Property Analysis
5.5 Simulation Results
5.6 Conclusion
6. Robust Fault-Tolerant Formation Control for Tail-Sitters in Aggressive Flight Mode Transitions
6.1 Introduction
6.2 Problem Formulation
6.2.1 Aircraft Body
6.2.2 Dynamic Motion Equations
6.2.3 Actuators
6.2.4 Problem Statement
6.3 Robust Controller Design
6.3.1 Outer Position Controller Design
6.3.2 Inner Attitude Controller Design
6.4 Robust Property Analysis
6.5 Simulation Results
6.6 Conclusion
Bibliography
Index
