Affine Formation Stabilization of multiple UAVs via Active Disturbance Rejection Control

Hong Liu; Tao Cai; Qingkai Yang; Hao Fang

doi:10.1109/ICCA51439.2020.9264549

Affine Formation Stabilization of multiple UAVs via Active Disturbance Rejection Control

Hong Liu, Tao Cai, Qingkai Yang, Hao Fang

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

This paper studies affine formation control problem for multiple UAVs with unknown nonlinear dynamics and external disturbances. To deal with the uncertainties, we employ the active disturbance rejection control (ADRC) technique. In this scheme, all unknown quantities can be observed via the extended state observer (ESO). Based on the outputs of the ESO, a class of affine formation control protocol is designed using the stress matrix, under which the predefined time-varying formation can be achieved. It is shown that the affine formation stabilization errors as well as the estimation errors can be arbitrarily small by choosing appropriate control gains. Finally, simulation results are presented to validate the effectiveness of the proposed control strategy.

Original language	English
Title of host publication	2020 IEEE 16th International Conference on Control and Automation, ICCA 2020
Publisher	IEEE Computer Society
Pages	29-34
Number of pages	6
ISBN (Electronic)	9781728190938
DOIs	https://doi.org/10.1109/ICCA51439.2020.9264549
Publication status	Published - 9 Oct 2020
Event	16th IEEE International Conference on Control and Automation, ICCA 2020 - Virtual, Sapporo, Hokkaido, Japan Duration: 9 Oct 2020 → 11 Oct 2020

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
Volume	2020-October
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	16th IEEE International Conference on Control and Automation, ICCA 2020
Country/Territory	Japan
City	Virtual, Sapporo, Hokkaido
Period	9/10/20 → 11/10/20

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10.1109/ICCA51439.2020.9264549

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Liu, H., Cai, T., Yang, Q., & Fang, H. (2020). Affine Formation Stabilization of multiple UAVs via Active Disturbance Rejection Control. In 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020 (pp. 29-34). Article 9264549 (IEEE International Conference on Control and Automation, ICCA; Vol. 2020-October). IEEE Computer Society. https://doi.org/10.1109/ICCA51439.2020.9264549

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title = "Affine Formation Stabilization of multiple UAVs via Active Disturbance Rejection Control",

abstract = "This paper studies affine formation control problem for multiple UAVs with unknown nonlinear dynamics and external disturbances. To deal with the uncertainties, we employ the active disturbance rejection control (ADRC) technique. In this scheme, all unknown quantities can be observed via the extended state observer (ESO). Based on the outputs of the ESO, a class of affine formation control protocol is designed using the stress matrix, under which the predefined time-varying formation can be achieved. It is shown that the affine formation stabilization errors as well as the estimation errors can be arbitrarily small by choosing appropriate control gains. Finally, simulation results are presented to validate the effectiveness of the proposed control strategy.",

author = "Hong Liu and Tao Cai and Qingkai Yang and Hao Fang",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 16th IEEE International Conference on Control and Automation, ICCA 2020 ; Conference date: 09-10-2020 Through 11-10-2020",

year = "2020",

month = oct,

day = "9",

doi = "10.1109/ICCA51439.2020.9264549",

language = "English",

series = "IEEE International Conference on Control and Automation, ICCA",

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booktitle = "2020 IEEE 16th International Conference on Control and Automation, ICCA 2020",

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Liu, H, Cai, T , Yang, Q & Fang, H 2020, Affine Formation Stabilization of multiple UAVs via Active Disturbance Rejection Control. in 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020., 9264549, IEEE International Conference on Control and Automation, ICCA, vol. 2020-October, IEEE Computer Society, pp. 29-34, 16th IEEE International Conference on Control and Automation, ICCA 2020, Virtual, Sapporo, Hokkaido, Japan, 9/10/20. https://doi.org/10.1109/ICCA51439.2020.9264549

Affine Formation Stabilization of multiple UAVs via Active Disturbance Rejection Control. / Liu, Hong; Cai, Tao ; Yang, Qingkai et al.
2020 IEEE 16th International Conference on Control and Automation, ICCA 2020. IEEE Computer Society, 2020. p. 29-34 9264549 (IEEE International Conference on Control and Automation, ICCA; Vol. 2020-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Affine Formation Stabilization of multiple UAVs via Active Disturbance Rejection Control

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AU - Cai, Tao

AU - Yang, Qingkai

AU - Fang, Hao

PY - 2020/10/9

Y1 - 2020/10/9

N2 - This paper studies affine formation control problem for multiple UAVs with unknown nonlinear dynamics and external disturbances. To deal with the uncertainties, we employ the active disturbance rejection control (ADRC) technique. In this scheme, all unknown quantities can be observed via the extended state observer (ESO). Based on the outputs of the ESO, a class of affine formation control protocol is designed using the stress matrix, under which the predefined time-varying formation can be achieved. It is shown that the affine formation stabilization errors as well as the estimation errors can be arbitrarily small by choosing appropriate control gains. Finally, simulation results are presented to validate the effectiveness of the proposed control strategy.

AB - This paper studies affine formation control problem for multiple UAVs with unknown nonlinear dynamics and external disturbances. To deal with the uncertainties, we employ the active disturbance rejection control (ADRC) technique. In this scheme, all unknown quantities can be observed via the extended state observer (ESO). Based on the outputs of the ESO, a class of affine formation control protocol is designed using the stress matrix, under which the predefined time-varying formation can be achieved. It is shown that the affine formation stabilization errors as well as the estimation errors can be arbitrarily small by choosing appropriate control gains. Finally, simulation results are presented to validate the effectiveness of the proposed control strategy.

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DO - 10.1109/ICCA51439.2020.9264549

M3 - Conference contribution

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T3 - IEEE International Conference on Control and Automation, ICCA

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BT - 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020

PB - IEEE Computer Society

T2 - 16th IEEE International Conference on Control and Automation, ICCA 2020

Y2 - 9 October 2020 through 11 October 2020

ER -

Affine Formation Stabilization of multiple UAVs via Active Disturbance Rejection Control

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