Flocking Control In Networks of Multiple VTOL Agents with Nonlinear and Under-actuated Features

Shulong Zhao; Xiangke Wang; Tianjiang Hu; Daibing Zhang; Lincheng Shen

Call for Papers - Ongoing round of submission, notification and publication.

Home | Login or Register | Contact CSC

Home > CSC-OpenAccess Library > Manuscript Information

Full Text Available
(no registration required)

(2.07MB)

-- CSC-OpenAccess Policy

-- Creative Commons Attribution NonCommercial 4.0 International License

>> COMPLETE LIST OF JOURNALS

EXPLORE PUBLICATIONS BY COUNTRIES


	EUROPE

	MIDDLE EAST

	ASIA

	AFRICA
.............................

	United States of America

	United Kingdom

	Canada

	Australia

	Italy

	France

	Brazil

	Germany

	Malaysia

	Turkey

	China

	Taiwan

	Japan

	Saudi Arabia

	Jordan

	Egypt

	United Arab Emirates

	India

	Nigeria

Flocking Control In Networks of Multiple VTOL Agents with Nonlinear and Under-actuated Features

Shulong Zhao, Xiangke Wang, Tianjiang Hu, Daibing Zhang, Lincheng Shen

Pages - 1 - 13 | Revised - 01-03-2015 | Published - 31-03-2015

Published in International Journal of Intelligent Systems and Applications in Robotics (IJRA)

Volume - 6 Issue - 1 | Publication Date - March / April 2015 Table of Contents

MORE INFORMATION

References | Abstracting & Indexing

KEYWORDS

Flocking, Multi-agent System, Under-actuated, VTOL, Formation.

ABSTRACT

In this paper, the problem of flocking control in networks of multiple Vertical Take-Off and Landing (VTOL) agents with nonlinear and under-actuated features is addressed. Compared with the widely used double-integrator model, the VTOL agents are distinguished with nonlinear and under-actuated dynamics and cannot be linearly parameterized. A unified and systematic procedure is employed to design the flocking controllers by using the backstepping technique to guarantee multi-agents to arrive at a fixed formation and converge in a desired geometric pattern whose centroid move along a desired trajectory. Finally, some numerical simulations are provided to illustrate the effectiveness of the new design.

ABSTRACTING & INDEXING

1	Google Scholar

2	CiteSeerX

3	refSeek

4	Scribd

5	SlideShare

6	PdfSR

REFERENCES

A. Abdessameud, A. Tayebi, “Formation Control of VTOL UAVs”, Motion Coordination for VTOL Unmanned Aerial Vehicles Advances in Industrial Control 2013, pp 105-127.

A. Tayebi, “Formation control of VTOL Unmanned Aerial Vehicles with communication delays”, Automatica, Volume 47, Issue 11,November , 2011.

H. Yamaguchi, “A distributed motion coordination strategy for multiple nonholonomic mobile robots in cooperative hunting operations”, Robot. Auton. Syst., vol. 43, no. 4, pp. 257-282, Jun. 2003.

J. H. Qin, C. B. Yu, H. J. Gao, X. K. Wang, “Leaderless consensus control of dynamical agents under directed interaction topology”, Decision and Control and European Control Conference(CDC-ECC), 2011.

J. Hauser, S. Sastry, and G. Meyer, “Nonlinear control design for slightly non-minimum phase systems”, Automatica, vol. 28:pp.665-679,1992.

J. Lawton, R. W. Beard, and B. Young, “A decentralized approach to formation maneuvers”, IEEE Trans. Robot. Autom., vol. 19, no. 6, pp.933-941, Dec. 2003.

J. Qin, W. X. Zheng, and H. Gao, “Consensus of multiple second-order vehicles with a time-varying reference signal under directed topology”, Automatica, vol. 47, no. 9, pp. 1983-1991, 2011.

M. Qian, B. Jiang, D. Xu, “Fault tolerant control scheme design for the formation control system of unmanned aerial vehicles”, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering August 9, 2013.

R. O. Saber, J. A. Fax, and R. M. Murray, “Consensus and cooperation in networked multi agent systems”, IEEE, vol. 95, no. 1, pp. 215-233, Jan. 2007.

W. B. Dunbar, R. M. Murray, “Model predictive control of coordinated multi-vehicles formations”, Proc. of the 41stIEEE Conference on Decision and Control, Las Vegas, Nevada, USA (pp.4631-4636),2002.

W. Dong, “Flocking of multiple mobile robots based on backstepping”, IEEE Trans. Syst., Man Cybern. B, Cybern, vol. 41, no. 2, pp. 414-424, Apr. 2011.

W. Ren, R. W. Beard, and E. M. Atkins, “Information consensus in multivehicle cooperative control”, IEEE Control Syst. Mag., vol. 27, no. 2, pp. 71-82, Apr. 2007.

X. K. Wang, J. H. Qin, C. B. Yu, “ISS Method for Coordination Control of Nonlinear Dynamical Agents Under Directed Topology”, IEEE Transactions on Cybernetics, Volume:44, Issue:10, pp. 1832-1845. 2014.

Y. Cao and W. Ren, “Distributed coordinated tracking with reduced interaction via a variable structure approach”, IEEE Trans. Autom.Control, vol. 57, no. 1, pp. 33-48, Jan. 2012.

Y. P. Tian and Y. Zhang, “High-order consensus of heterogeneous multi-agent systems with unknown communication delays”, Automatica, vol. 48, no. 6, pp. 1205-1212, 2012.

Y. Zhu, Y. R. Cong, X. K. Wang, “Consensus labialization for Continuous-Time High-Order Multi-agent Systems with Time-Varying Delays”, Mathematical Problems in Engineering Volume 2013.

Z. Daniel, F. Antonio, A. Frank, et al, “Rigidity Maintenance Control for Multi-Robot Systems”, Robotics: Science and System (RSS) 2012, Sydney, Australia.

MANUSCRIPT AUTHORS

Dr. Shulong Zhao