Formation backstepping control based on the cooperative dual task-space framework: a case study on unmanned aerial vehicles
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Universidade Federal de Minas Gerais
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This paper addresses the leader-follower formation control problem. A backstepping control strategy is proposed based on the formation kinematic model, which is formulated using the cooperative dual-task space framework. A group of tilt-rotor unmanned aerial vehicles (UAVs) is used as case study, in which one UAV performs path tracking while being followed by the others. To accomplish this task, a linear state-feedback D-stable H-infinity controller is designed for each individual based on the UAV's linearized dynamic equations. Simulation results considering constant external disturbances are shown to highlight the effectiveness and robustness of the proposed formation control strategy. Moreover, the proposed strategy is compared with the known task-space inverse dynamics technique.
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Aeronave não tripulada, Cinemática, Vôo
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Unmanned Aerial Vehicles, Backstepping Control, Control Strategy, Control Problem, Stability Control, Constant Disturbance, Optimal Control, Weight Matrix, Difference Map, Rigid Transformation, Stability Parameters, Linear Control, Inertial Frame, Hamiltonian Operator, Swarm Robotics, Lyapunov Function Candidate, Team Behavior
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https://ieeexplore.ieee.org/document/7783520