Distributed backstepping based control of multiple UAV formation flight subject to time delays

被引:55
|
作者
Kartal, Yusuf [1 ]
Subbarao, Kamesh [1 ]
Gans, Nicholas R. [2 ]
Dogan, Atilla [1 ]
Lewis, Frank [2 ]
机构
[1] Univ Texas Arlington, Aerosp Engn, 500 W 1st St, Arlington, TX 76019 USA
[2] Univ Texas Arlington, Res Inst, Automat & Intelligent Syst Div, Ft Worth, TX 76118 USA
来源
IET CONTROL THEORY AND APPLICATIONS | 2020年 / 14卷 / 12期
关键词
cascade control; position control; mobile robots; control system synthesis; multi-robot systems; directed graphs; delays; closed loop systems; attitude control; autonomous aerial vehicles; distributed control; Lyapunov methods; adaptive control; stability; nonlinear control systems; linear systems; stability criteria; cascaded control system; closed-loop stability; distributed network time delays; distributed backstepping structure; delay-independent; control algorithms; distributed formation control method; multiple unmanned aerial vehicles; centralised formation control; communication network; linear attitude control loop; nonlinear position control loop; inner attitude controller; distributed backstepping based control; multiple UAV formation flight; backstepping-based outer position controller design; propellers; mathematical model; Lyapunov-Krasovskii analysis; directed graph; stability criterion; actual flight test experiments; UNMANNED AERIAL VEHICLES; VARYING FORMATION CONTROL; MULTIAGENT SYSTEMS; CONSENSUS; QUADROTOR;
D O I
10.1049/iet-cta.2019.1151
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this study, the authors propose a backstepping-based, distributed formation control method that is stable independent of time delays in communication among multiple unmanned aerial vehicles (UAVs). Centralised formation control of UAVs requires each agent to maintain a separation distance from other agents, which burdens the communication network of the UAVs. To overcome this problem, the authors consider a distributed control scheme wherein each agent updates its attitude and position based on the state information gathered through its neighbours. Instead of directly controlling the thrust generated by the propellers, they partition the mathematical model of the UAV into two subsystems, a linear attitude control loop and a non-linear position control loop. A backstepping-based outer position controller is then designed that interfaces seamlessly with the inner attitude controller of the cascaded control system. The closed-loop stability is established using a rigorous Lyapunov-Krasovskii analysis under the influence of distributed network time delays. Using the directed graph topology and a distributed backstepping structure, it is shown that the stability criterion is delay-independent. The proposed control algorithms are verified in simulation and then implemented in hardware, and actual flight test experiments prove the validity of these algorithms.
引用
收藏
页码:1628 / 1638
页数:11
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