Consensus-based three-dimensionalmulti-UAV formation control strategy with high precision

Abstract

We propose a formation control strategy for multiple unmanned aerial vehicles (multi-UAV) based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration, managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model, the cooperative guidance algorithm, and the cooperative control algorithm, the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm, providing the desired acceleration, pitch rate, and heading rate. Longitudinal and lateral motions are jointly considered, and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed, and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.

Keywords

Multiple unmanned aerial vehicles / Consensus / Cooperative guidance / Cooperative control / Synchronization technology

References

[1] Aldo, S., Jaimes, B., Jamshidi, M. , 2010. Consensus-based and network control of UAVs.Proc. 5th Int. Conf. on System of Systems Engineering, p.1–6. http://dx.doi.org/10.1109/SYSOSE.2010.5544106

[2] Annamalai, A., Motwani , A., Sharma, S.K. , , 2015. A robust navigation technique for integration in the guidance and control of an uninhabited surface vehicle.J. Navigat., 68(4):750–768. http://dx.doi.org/10.1017/S0373463315000065

[3] Bai, C., Duan, H., Li, C., , 2009. Dynamic multi-UAVs formation reconfiguration based on hybrid diversity-PSO and time optimal control.Proc. IEEE Intelligent Vehicles Symp., p.775–779. http://dx.doi.org/10.1109/IVS.2009.5164376

[4] Bennet, D.J., McInnes , C.R., Suzuki, M. , , 2011. Autonomous three-dimensional formation flight for a swarm of unmanned aerial vehicles. J. Guid. Contr. Dynam., 34(6):1899–1908.http://dx.doi.org/10.2514/1.53931

[5] Chen, X., Zhang, C., 2013. The method of multi unmanned aerial vehicle cooperative tracking in formation based on the theory of consensus.Proc. 5th Int. Conf. on Intelligent Human-Machine Systems and Cybernetics, p.148–151. http://dx.doi.org/10.1109/IHMSC.2013.182

[6] Fukushima, H., Kon, K., Matsuno, F. , 2013. Model predictive formation control using branch-and-bound compatible with collision avoidance problems. IEEE Trans. Robot., 29(5):1308–1317. http://dx.doi.org/10.1109/TRO.2013.2262751

[7] Hou, H., Wei, R.X., Liu, Y. , , 2011. UAV control method studied based on high-order sliding mode control. Flight Dynam., 29(1):38–41 (in Chinese). http://dx.doi.org/10.13645/j.cnki.f.d.2011.01.010

[8] Jing, Y., Shi, X.P., 2014. NDI formation controller design for UAV based on super twisting algorithm. J. Syst. Eng. Electron., 36(7):1380–1385 (in Chinese). http://dx.doi.org/10.3969/j.issn.1001-506X.2014.07.24

[9] Kim, S., Kim, Y., 2007. Three dimensional optimum controller for multiple UAV formation flight using behaviorbased decentralized approach.Proc. Int. Conf. on Control, Automation and Systems, p.1387–1392.http://dx.doi.org/10.1109/ICCAS.2007.4406555

[10] Kumar, R., Kabamba , P., Hyland, D.C. , 2005. Controller design using adaptive random search for close-coupled formation flight.J. Guid. Contr. Dynam., 28(6):1323–1326. http://dx.doi.org/10.2514/1.11377

[11] Kuriki, Y., Namerikawa , T., 2013. Consensus-based cooperative control for geometric configuration of UAVs flying in formation.Proc. SICE Annual Conf., p.1237–1242.

[12] Kuriki, Y., Namerikawa , T., 2014. Consensus-based cooperative formation control with collision avoidance for a multi-UAV system.Proc. American Control Conf., p.2077–2082. http://dx.doi.org/10.1109/ACC.2014.6858777

[13] Li, S., Chen, Y., Yang, Z., , 2012. Formation fight control of multi-UAVs with communication delay.Inform. Contr., 41(2):142–146 (in Chinese). http://dx.doi.org/10.3724/SP.J.1219.2012.00142

[14] Liu, B., Tang, W., 2000. Modern Control Theory.China Machine Press, Beijing, p.193–199 (in Chinese).

[15] Mercado, D.A., Castro, R., Lozano, R., 2013. Quadrotors flight formation control using a leader-follower approach.Proc. European Control Conf., p.3858–3863.

[16] Ren, W., 2006. Consensus based formation control strategies for multi-vehicle systems.Proc. American Control Conf., p.4237–4242. http://dx.doi.org/10.1109/ACC.2006.1657384

[17] Ren, W., Beard, R., 2002. Virtual structure based spacecraft formation control with formation feedback.Proc. AIAA Guidance, Navigation, and Control Conf. and Exhibit, p.1–8. http://dx.doi.org/10.2514/6.2002-4963

[18] Seo, J., Ahn, C., Kim, Y., 2009. Controller design for UAV formation flight using consensus based decentralized approach.Proc. AIAA Infotech@Aerospace Conf., p.1–11. http://dx.doi.org/10.2514/6.2009-1826

[19] Shan, J., Liu, H., 2005. Close-formation flight control with motion synchronization. J. Guid. Contr. Dynam., 28(6):1316–1320.http://dx.doi.org/10.2514/1.13953

[20] Shi, Z.K., 2008. Linear System Theory.Science Press, Beijing (in Chinese).

[21] Wang, J., Wei, R., Dong, Z., , 2010. Research on formation flight control of cooperative UAV. Fire Contr. Command Contr., 35(3):34–38.

[22] Wang, X.Y., Wang, X.M., Xiao, Y.H. , , 2012. Design of robust H∞ controller for UAVs three-dimensional formation flight. Contr. Dec., 27(12):1907–1911 (in Chinese). http://dx.doi.org/10.13195/j.cd.2012.12.150.wangxy.004

[23] Xiao, Y.H., Wang, X.M., Wang, X.Y. , 2011. An effective controller design of formation flight of unmanned aerial vehicles (UAV). J. Northwestern Polytech. Univ., 29(6):834–838 (in Chinese).

RIGHTS & PERMISSIONS

2017 Zhejiang University and Springer-Verlag Berlin Heidelberg