A robust adaptive formation control methodology for networked multi-UAV systems with applications to cooperative payload transportation
This paper develops a new robust adaptive formation control methodology for networked multi-UAV systems to solve the cooperative payload transportation problem. This methodology offers a simple yet effective technique for object transportation relying on the formation tracking principle in the prese...
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| Published in | Control engineering practice Vol. 138; p. 105608 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.09.2023
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0967-0661 |
| DOI | 10.1016/j.conengprac.2023.105608 |
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| Abstract | This paper develops a new robust adaptive formation control methodology for networked multi-UAV systems to solve the cooperative payload transportation problem. This methodology offers a simple yet effective technique for object transportation relying on the formation tracking principle in the presence of bounded exogenous disturbances. Compared to existing techniques, the proposed method resorts to the σ-modification approach to resolve the parameter drift phenomenon. The ultimate boundedness of the formation tracking error dynamics is established by utilising Lyapunov theory. In addition, the proposed scheme does not involve any multi-body dynamics problem, nor does it require any reference model, disturbance filter/estimator or any prior knowledge of the disturbances. As a result, it reduces the overall complexity of the formation control scheme. The paper includes extensive simulation case studies accompanied by lab-based experimental validation results conducted on a group of nano quadcopter UAVs to demonstrate the feasibility and performance of the controller. The paper also projects a potential application of the proposed scheme in cooperative payload transportation missions. |
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| AbstractList | This paper develops a new robust adaptive formation control methodology for networked multi-UAV systems to solve the cooperative payload transportation problem. This methodology offers a simple yet effective technique for object transportation relying on the formation tracking principle in the presence of bounded exogenous disturbances. Compared to existing techniques, the proposed method resorts to the σ-modification approach to resolve the parameter drift phenomenon. The ultimate boundedness of the formation tracking error dynamics is established by utilising Lyapunov theory. In addition, the proposed scheme does not involve any multi-body dynamics problem, nor does it require any reference model, disturbance filter/estimator or any prior knowledge of the disturbances. As a result, it reduces the overall complexity of the formation control scheme. The paper includes extensive simulation case studies accompanied by lab-based experimental validation results conducted on a group of nano quadcopter UAVs to demonstrate the feasibility and performance of the controller. The paper also projects a potential application of the proposed scheme in cooperative payload transportation missions. |
| ArticleNumber | 105608 |
| Author | Su, Yu-Hsiang Lanzon, Alexander Bhowmick, Parijat |
| Author_xml | – sequence: 1 givenname: Yu-Hsiang orcidid: 0000-0002-5208-714X surname: Su fullname: Su, Yu-Hsiang organization: Department of Electrical and Electronic Engineering, School of Engineering, University of Manchester, Manchester M13 9PL, UK – sequence: 2 givenname: Parijat surname: Bhowmick fullname: Bhowmick, Parijat email: parijat.bhowmick@iitg.ac.in organization: Department of Electronics and Electrical Engineering, IIT Guwahati, North Guwahati, Assam 781039, India – sequence: 3 givenname: Alexander surname: Lanzon fullname: Lanzon, Alexander organization: Department of Electrical and Electronic Engineering, School of Engineering, University of Manchester, Manchester M13 9PL, UK |
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| Keywords | Lyapunov stability Cooperative payload transportation Adaptive formation control UAVs Multi-agent systems |
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| SubjectTerms | Adaptive formation control Cooperative payload transportation Lyapunov stability Multi-agent systems UAVs |
| Title | A robust adaptive formation control methodology for networked multi-UAV systems with applications to cooperative payload transportation |
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