Formation control of quad-rotor UAV via PIO

In this article, the formation control of quad-rotor unmanned aerial vehicle (UAV) via pigeon inspired optimization (PIO) is designed. The nonlinear mathematical model of the quad-rotor UAV is used by applying algebraic graph theory and matrix analysis. A high order consistent formation control algo...

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Bibliographic Details
Published inScience China. Technological sciences Vol. 65; no. 2; pp. 432 - 439
Main Authors Bai, TingTing, Wang, DaoBo, Masood, Rana Javed
Format Journal Article
LanguageEnglish
Published Beijing Science China Press 01.02.2022
Springer Nature B.V
Subjects
Algorithms
Control algorithms
Control theory
Engineering
Graph theory
Inertia
Iterative methods
Matrix methods
Optimization
Rotors
Topology
Unmanned aerial vehicles
pigeon inspired optimization
formation control
unmanned aerial vehicle and quad-rotor UAV
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Summary:In this article, the formation control of quad-rotor unmanned aerial vehicle (UAV) via pigeon inspired optimization (PIO) is designed. The nonlinear mathematical model of the quad-rotor UAV is used by applying algebraic graph theory and matrix analysis. A high order consistent formation control algorithm with fixed control topology is designed by using a position deviation matrix to describe its formation To control the attitude of quad-rotor UAVs, it is difficult to obtain a set of optimal solutions, and hence a PIO based algorithm with variable weight hybridization is proposed. The algorithm is mainly composed of two parts. First, according to the distance between the particles in the iterative process, the inertia weight is dynamically changed, and the coefficient is adjusted to control the degree of influence on its inertia weight. Second, the overall scenario is designed by using MATLAB based simulations which show that the formation control of the quad-rotor UAV is achieved with the help of PIO.
ISSN:1674-7321
1869-1900
DOI:10.1007/s11431-020-1794-2