Fully Distributed Edge-Based Dynamic Event-Triggered Control for Multiple Quadrotors

This article investigates the fully distributed event-based time-varying formation control problem for multiple quadrotors with unknown perturbations, input saturation, and switching topologies. A novel adaptive dynamic event-triggered scheme is first formulated to alleviate the communication burden...

Full description

Saved in:
Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 29; no. 4; pp. 3203 - 3214
Main Authors Wang, Hao, Shan, Jinjun, Alkomy, Hassan
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Aerodynamics
Event triggered control
Event-triggered control (ETC)
Formation control
fully distributed control
Heuristic algorithms
Perturbation
Protocols
Quadrotors
Robust control
Rotary wing aircraft
Switches
Switching
Topology
Online AccessGet full text

Cover

Abstract This article investigates the fully distributed event-based time-varying formation control problem for multiple quadrotors with unknown perturbations, input saturation, and switching topologies. A novel adaptive dynamic event-triggered scheme is first formulated to alleviate the communication burden and reduce the resources consumption. Meanwhile, online triggering parameters and dynamic thresholds with updating laws associated with each edge are introduced so that the control protocol can be developed in a fully distributed way and the unnecessary communication can be further reduced for the leader-follower multiquadrotor system with switching topologies without sacrificing the tracking performance. Then, a fully distributed robust formation control protocol using the low gain feedback technique is developed to guarantee the time-varying formation of multiple quadrotors subject to unknown perturbations and input saturation without requiring global information. Furthermore, sufficient conditions are derived to ensure the asymptotic convergence of the formation error and Zeno-freeness. Hardware experiments are conducted to verify the efficiency of the designed controller.
AbstractList This article investigates the fully distributed event-based time-varying formation control problem for multiple quadrotors with unknown perturbations, input saturation, and switching topologies. A novel adaptive dynamic event-triggered scheme is first formulated to alleviate the communication burden and reduce the resources consumption. Meanwhile, online triggering parameters and dynamic thresholds with updating laws associated with each edge are introduced so that the control protocol can be developed in a fully distributed way and the unnecessary communication can be further reduced for the leader–follower multiquadrotor system with switching topologies without sacrificing the tracking performance. Then, a fully distributed robust formation control protocol using the low gain feedback technique is developed to guarantee the time-varying formation of multiple quadrotors subject to unknown perturbations and input saturation without requiring global information. Furthermore, sufficient conditions are derived to ensure the asymptotic convergence of the formation error and Zeno-freeness. Hardware experiments are conducted to verify the efficiency of the designed controller.
Author Alkomy, Hassan
Shan, Jinjun
Wang, Hao
Author_xml – sequence: 1
  givenname: Hao
  orcidid: 0000-0002-4400-4412
  surname: Wang
  fullname: Wang, Hao
  email: hwang12@yorku.ca
  organization: Department of Earth and Space Science and Engineering, York University, Toronto, ON, Canada
– sequence: 2
  givenname: Jinjun
  orcidid: 0000-0002-4911-6739
  surname: Shan
  fullname: Shan, Jinjun
  email: jjshan@yorku.ca
  organization: Department of Earth and Space Science and Engineering, York University, Toronto, ON, Canada
– sequence: 3
  givenname: Hassan
  orcidid: 0000-0002-8664-9294
  surname: Alkomy
  fullname: Alkomy, Hassan
  email: h.alkomy@unb.ca
  organization: Department of Engineering, University of New Brunswick, Saint John, NB, Canada
BookMark eNp9kEtLAzEUhYNUsK3-AXEx4HrqzSTzyFLr1AotIozgbojJbUmZTmqSEfrvndouxIWre7ic7z7OiAxa2yIh1xQmlIK4q5bldD5JIOETxpM8E8kZGVLBaQyUvw96DQWLOWfpBRl5vwEAToEOSTXrmmYfPRofnPnoAuqo1GuMH6Tv5eO-lVujovIL2xBXzqzX6Pr-1LbB2SZaWRctuyaYXYPRaye1s8E6f0nOV7LxeHWqY_I2K6vpPF68PD1P7xexSkQWYioVSK1YChwzSqVIgfWHSaQ01YKjxJwxZDrru5wxpVSimRYCQAkucsXG5PY4d-fsZ4c-1BvbubZfWTMQPKUFFGnvKo4u5az3Dle1MkEGc_hBmqamUB8yrH8yrA8Z1qcMezT5g-6c2Uq3_x-6OUIGEX8BGeQiy9g3JrN-1Q
CODEN IATEFW
CitedBy_id crossref_primary_10_1109_ACCESS_2025_3539995
Cites_doi 10.1109/TCST.2014.2314460
10.1109/TCST.2017.2656060
10.1007/s40815-023-01563-5
10.1016/j.automatica.2022.110188
10.1016/j.jfranklin.2017.05.041
10.1109/TCYB.2019.2920093
10.1109/TCNS.2022.3158817
10.1109/TCYB.2019.2910131
10.1016/j.sysconle.2010.01.006
10.1109/TCNS.2021.3061941
10.1109/TAC.2018.2857723
10.1109/TCST.2011.2167331
10.1016/j.automatica.2020.109086
10.1109/TIE.2023.3239870
10.1016/j.automatica.2020.108898
10.1109/TCST.2017.2757448
10.1016/j.automatica.2013.03.015
10.1109/TIE.2016.2642879
10.1109/TMECH.2021.3075478
10.1109/TAC.2021.3108498
10.1016/j.conengprac.2023.105513
10.1016/j.sysconle.2016.07.001
10.1016/j.jfranklin.2018.01.025
10.1109/TSMCB.2011.2179981
10.1016/j.ejcon.2021.03.001
10.1016/j.automatica.2013.03.005
10.1016/j.engappai.2023.107832
10.1109/TSMC.2018.2866853
10.1109/TMECH.2023.3273395
10.1109/JAS.2021.1004377
10.1109/TAC.2019.2895927
10.1109/TAC.2023.3317505
10.1109/TII.2022.3149912
10.1109/TAC.2015.2480336
10.1109/TAC.2018.2823085
10.1109/TASE.2018.2867614
10.1109/TCYB.2021.3089488
10.1109/TCYB.2021.3054648
10.1109/TMECH.2022.3148541
10.1109/TCYB.2022.3164048
10.1016/j.automatica.2021.109677
ContentType Journal Article
Copyright Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2024
Copyright_xml – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2024
DBID 97E
RIA
RIE
AAYXX
CITATION
7SC
7SP
7TB
8FD
FR3
JQ2
L7M
L~C
L~D
DOI 10.1109/TMECH.2024.3427692
DatabaseName IEEE All-Society Periodicals Package (ASPP) 2005–Present
IEEE All-Society Periodicals Package (ASPP) 1998–Present
IEEE Xplore
CrossRef
Computer and Information Systems Abstracts
Electronics & Communications Abstracts
Mechanical & Transportation Engineering Abstracts
Technology Research Database
Engineering Research Database
ProQuest Computer Science Collection
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts – Academic
Computer and Information Systems Abstracts Professional
DatabaseTitle CrossRef
Technology Research Database
Computer and Information Systems Abstracts – Academic
Mechanical & Transportation Engineering Abstracts
Electronics & Communications Abstracts
ProQuest Computer Science Collection
Computer and Information Systems Abstracts
Engineering Research Database
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts Professional
DatabaseTitleList Technology Research Database
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISSN 1941-014X
EndPage 3214
ExternalDocumentID 10_1109_TMECH_2024_3427692
10607966
Genre orig-research
GrantInformation_xml – fundername: Natural Sciences and Engineering Research Council of Canada
  funderid: 10.13039/501100000038
GroupedDBID -~X
0R~
29I
4.4
5GY
5VS
6IK
97E
9M8
AAJGR
AARMG
AASAJ
AAWTH
ABAZT
ABQJQ
ABVLG
ACGFS
ACIWK
ACKIV
AETIX
AGQYO
AGSQL
AHBIQ
AI.
AIBXA
AKJIK
AKQYR
ALLEH
ALMA_UNASSIGNED_HOLDINGS
ATWAV
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CS3
EBS
EJD
F5P
H~9
IFIPE
IFJZH
IPLJI
JAVBF
LAI
M43
OCL
RIA
RIE
RNS
TN5
VH1
AAYXX
CITATION
RIG
7SC
7SP
7TB
8FD
FR3
JQ2
L7M
L~C
L~D
ID FETCH-LOGICAL-c296t-1ac0adc3504e611a9503000ae115d94eae733e3d6300433ccc2d3d9900c9497c3
IEDL.DBID RIE
ISSN 1083-4435
IngestDate Mon Jun 30 10:12:54 EDT 2025
Tue Jul 01 04:23:31 EDT 2025
Thu Apr 24 23:09:35 EDT 2025
Wed Aug 27 02:32:38 EDT 2025
IsPeerReviewed true
IsScholarly true
Issue 4
Language English
License https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html
https://doi.org/10.15223/policy-029
https://doi.org/10.15223/policy-037
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c296t-1ac0adc3504e611a9503000ae115d94eae733e3d6300433ccc2d3d9900c9497c3
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ORCID 0000-0002-4400-4412
0000-0002-4911-6739
0000-0002-8664-9294
PQID 3094518085
PQPubID 85420
PageCount 12
ParticipantIDs ieee_primary_10607966
crossref_citationtrail_10_1109_TMECH_2024_3427692
crossref_primary_10_1109_TMECH_2024_3427692
proquest_journals_3094518085
ProviderPackageCode CITATION
AAYXX
PublicationCentury 2000
PublicationDate 2024-08-01
PublicationDateYYYYMMDD 2024-08-01
PublicationDate_xml – month: 08
  year: 2024
  text: 2024-08-01
  day: 01
PublicationDecade 2020
PublicationPlace New York
PublicationPlace_xml – name: New York
PublicationTitle IEEE/ASME transactions on mechatronics
PublicationTitleAbbrev TMECH
PublicationYear 2024
Publisher IEEE
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml – name: IEEE
– name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References ref13
ref35
ref12
ref34
ref15
ref37
ref14
ref36
ref31
ref30
ref11
ref33
ref10
ref32
ref2
ref1
ref17
ref39
ref16
ref38
ref19
ref18
Ioannou (ref43) 1996
ref24
ref23
ref26
ref25
ref20
ref42
Lin (ref41) 1998
ref22
ref21
ref28
ref27
ref29
ref8
ref7
ref9
ref4
ref3
ref6
ref5
ref40
References_xml – ident: ref1
  doi: 10.1109/TCST.2014.2314460
– ident: ref5
  doi: 10.1109/TCST.2017.2656060
– ident: ref21
  doi: 10.1007/s40815-023-01563-5
– ident: ref26
  doi: 10.1016/j.automatica.2022.110188
– ident: ref2
  doi: 10.1016/j.jfranklin.2017.05.041
– ident: ref20
  doi: 10.1109/TCYB.2019.2920093
– ident: ref11
  doi: 10.1109/TCNS.2022.3158817
– ident: ref33
  doi: 10.1109/TCYB.2019.2910131
– ident: ref40
  doi: 10.1016/j.sysconle.2010.01.006
– ident: ref8
  doi: 10.1109/TCNS.2021.3061941
– ident: ref38
  doi: 10.1109/TAC.2018.2857723
– ident: ref6
  doi: 10.1109/TCST.2011.2167331
– ident: ref7
  doi: 10.1016/j.automatica.2020.109086
– ident: ref9
  doi: 10.1109/TIE.2023.3239870
– ident: ref39
  doi: 10.1016/j.automatica.2020.108898
– ident: ref32
  doi: 10.1109/TCST.2017.2757448
– ident: ref22
  doi: 10.1016/j.automatica.2013.03.015
– ident: ref29
  doi: 10.1109/TIE.2016.2642879
– ident: ref15
  doi: 10.1109/TMECH.2021.3075478
– ident: ref18
  doi: 10.1109/TAC.2021.3108498
– ident: ref13
  doi: 10.1016/j.conengprac.2023.105513
– ident: ref35
  doi: 10.1016/j.sysconle.2016.07.001
– ident: ref16
  doi: 10.1016/j.jfranklin.2018.01.025
– volume-title: Low Gain Feedback
  year: 1998
  ident: ref41
– ident: ref42
  doi: 10.1109/TSMCB.2011.2179981
– ident: ref31
  doi: 10.1016/j.ejcon.2021.03.001
– ident: ref23
  doi: 10.1016/j.automatica.2013.03.005
– ident: ref3
  doi: 10.1016/j.engappai.2023.107832
– ident: ref19
  doi: 10.1109/TSMC.2018.2866853
– ident: ref17
  doi: 10.1109/TMECH.2023.3273395
– ident: ref27
  doi: 10.1109/JAS.2021.1004377
– ident: ref25
  doi: 10.1109/TAC.2019.2895927
– ident: ref37
  doi: 10.1109/TAC.2023.3317505
– ident: ref12
  doi: 10.1109/TII.2022.3149912
– ident: ref24
  doi: 10.1109/TAC.2015.2480336
– ident: ref36
  doi: 10.1109/TAC.2018.2823085
– ident: ref4
  doi: 10.1109/TASE.2018.2867614
– ident: ref34
  doi: 10.1109/TCYB.2021.3089488
– ident: ref10
  doi: 10.1109/TCYB.2021.3054648
– ident: ref14
  doi: 10.1109/TMECH.2022.3148541
– volume-title: Robust Adaptive Control
  year: 1996
  ident: ref43
– ident: ref30
  doi: 10.1109/TCYB.2022.3164048
– ident: ref28
  doi: 10.1016/j.automatica.2021.109677
SSID ssj0004101
Score 2.448229
Snippet This article investigates the fully distributed event-based time-varying formation control problem for multiple quadrotors with unknown perturbations, input...
SourceID proquest
crossref
ieee
SourceType Aggregation Database
Enrichment Source
Index Database
Publisher
StartPage 3203
SubjectTerms Aerodynamics
Event triggered control
Event-triggered control (ETC)
Formation control
fully distributed control
Heuristic algorithms
Perturbation
Protocols
Quadrotors
Robust control
Rotary wing aircraft
Switches
Switching
Topology
Title Fully Distributed Edge-Based Dynamic Event-Triggered Control for Multiple Quadrotors
URI https://ieeexplore.ieee.org/document/10607966
https://www.proquest.com/docview/3094518085
Volume 29
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV07T8MwELagEwy8EeUlD2zIxa849QilqEICCalIbJFjXxhALYJ2gF_P2UmhgEBsGWzL8vly35fc3UfIUVeZvLICWCV8YNq4wJxwnJVcAgiHZKxM2RbXZnCrL--yu6ZYPdXCAEBKPoNOfEz_8sPYT-OnMvRww3PE54tkEZlbXaz1WQQpktaxQEzBNIKAWYUMtyfDq35vgFxQ6o7SMjdWfolCSVblx7s4BZiLVXI921qdV_LQmU7Kjn_71rXx33tfIysN1KSn9d1YJwsw2iDLcw0IN8kwMtBXeh6750bhKwi0H-6BnWFsC_S8Vqun_ZgTyYbI4--jsift1entFPEuvWoSEunN1IXncdTu2SK3F_1hb8AanQXmpTUTJpznLniVcQ1GCGcz9HzOHSBaDFaDg1wpUCF151LKey-DChjGuLfa5l5tk9ZoPIIdQkNlQqUc-rWTWsnclrIyJlo98Kyb-zYRs3MvfNOEPGphPBaJjHBbJFsV0VZFY6s2Of6Y81S34Phz9FY8_LmR9bm3yf7MvkXjpi-FQnKbiS7Czt1fpu2Rpbh6nfK3T1qT5ykcIAyZlIfp-r0DiinXpQ
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1NbxMxEB2V9gA9QIFWBErxgRty8Nd64yOkqVJoIiFtpd5WXnu2h1YJapMD_HrG3k0pIBC3Pdiy5fHsvNl9Mw_g7UjbsnUSeStD5Mb6yL30gjdCIUpPyViT2RZzOz03ny6Ki75YPdfCIGImn-EwPeZ_-XEZ1ulTGXm4FSXh8wewQ4G_UF251s8ySJnVjiWhCm4IBmxqZIR7X80m4yllg8oMtVGldeqXOJSFVf54G-cQc_IE5pvNdcySq-F61QzD99_6Nv737vfgcQ822YfudjyFLVw8g917LQifQ5Vy0G_sOPXPTdJXGNkkXiL_SNEtsuNOr55NEiuSV5TJXyZtTzbuCO6MEC-b9ZRE9mXt480yqffsw_nJpBpPea-0wINydsWlD8LHoAth0ErpXUG-L4RHwovRGfRYao065v5cWocQVNSRApkIzrgy6APYXiwX-AJYbG1stSfP9spoVbpGtdYmu0dRjMowALk59zr0bciTGsZ1ndMR4epsqzrZqu5tNYB3d3O-dk04_jl6Px3-vZHduQ_gcGPfunfU21pTelvIEQHPl3-Z9gYeTqvZWX12Ov_8Ch6llToC4CFsr27W-JpAyao5ylfxB_hx2u8
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Fully+Distributed+Edge-Based+Dynamic+Event-Triggered+Control+for+Multiple+Quadrotors&rft.jtitle=IEEE%2FASME+transactions+on+mechatronics&rft.au=Wang%2C+Hao&rft.au=Shan%2C+Jinjun&rft.au=Alkomy%2C+Hassan&rft.date=2024-08-01&rft.issn=1083-4435&rft.eissn=1941-014X&rft.volume=29&rft.issue=4&rft.spage=3203&rft.epage=3214&rft_id=info:doi/10.1109%2FTMECH.2024.3427692&rft.externalDBID=n%2Fa&rft.externalDocID=10_1109_TMECH_2024_3427692
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1083-4435&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1083-4435&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1083-4435&client=summon