Robust safety formation control for multiple unmanned helicopters

Dandan Wang; Jianan Wang; Chunyan Wang; Yan Ding

doi:10.1109/ICCA51439.2020.9264345

Robust safety formation control for multiple unmanned helicopters

Dandan Wang, Jianan Wang, Chunyan Wang, Yan Ding

School of Aerospace Engineering

Beijing Institute of Technology

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

Abstract

The fully distributed robust formation control of unmanned helicopters (UHs) with external disturbances and model uncertainty capability is investigated. In the position loop and the attitude loop, continuous fast robust controllers are proposed, and an integral filter is introduced between two loop. The stability of the whole closed-loop system is guaranteed through Lyapunov theory and input-to-state stability (ISS). Compared to the previous related works, our main contribution is that the proposed adaptive control strategy is fully distributed and scalable, which is independent any global information of the network graph and is independent of the UHs's scale and we proved the stability of the closed-loop. Finally, the effectiveness and superiority of the designed strategy are demonstrated by numerical simulations.

Original language	English
Title of host publication	2020 IEEE 16th International Conference on Control and Automation, ICCA 2020
Publisher	IEEE Computer Society
Pages	967-972
Number of pages	6
ISBN (Electronic)	9781728190938
DOIs	https://doi.org/10.1109/ICCA51439.2020.9264345
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/ICCA51439.2020.9264345

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Wang, D., Wang, J., Wang, C., & Ding, Y. (2020). Robust safety formation control for multiple unmanned helicopters. In 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020 (pp. 967-972). Article 9264345 (IEEE International Conference on Control and Automation, ICCA; Vol. 2020-October). IEEE Computer Society. https://doi.org/10.1109/ICCA51439.2020.9264345

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title = "Robust safety formation control for multiple unmanned helicopters",

abstract = "The fully distributed robust formation control of unmanned helicopters (UHs) with external disturbances and model uncertainty capability is investigated. In the position loop and the attitude loop, continuous fast robust controllers are proposed, and an integral filter is introduced between two loop. The stability of the whole closed-loop system is guaranteed through Lyapunov theory and input-to-state stability (ISS). Compared to the previous related works, our main contribution is that the proposed adaptive control strategy is fully distributed and scalable, which is independent any global information of the network graph and is independent of the UHs's scale and we proved the stability of the closed-loop. Finally, the effectiveness and superiority of the designed strategy are demonstrated by numerical simulations.",

author = "Dandan Wang and Jianan Wang and Chunyan Wang and Yan Ding",

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",

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doi = "10.1109/ICCA51439.2020.9264345",

language = "English",

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

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Wang, D, Wang, J , Wang, C & Ding, Y 2020, Robust safety formation control for multiple unmanned helicopters. in 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020., 9264345, IEEE International Conference on Control and Automation, ICCA, vol. 2020-October, IEEE Computer Society, pp. 967-972, 16th IEEE International Conference on Control and Automation, ICCA 2020, Virtual, Sapporo, Hokkaido, Japan, 9/10/20. https://doi.org/10.1109/ICCA51439.2020.9264345

Robust safety formation control for multiple unmanned helicopters. / Wang, Dandan; Wang, Jianan ; Wang, Chunyan et al.
2020 IEEE 16th International Conference on Control and Automation, ICCA 2020. IEEE Computer Society, 2020. p. 967-972 9264345 (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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AU - Wang, Dandan

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N2 - The fully distributed robust formation control of unmanned helicopters (UHs) with external disturbances and model uncertainty capability is investigated. In the position loop and the attitude loop, continuous fast robust controllers are proposed, and an integral filter is introduced between two loop. The stability of the whole closed-loop system is guaranteed through Lyapunov theory and input-to-state stability (ISS). Compared to the previous related works, our main contribution is that the proposed adaptive control strategy is fully distributed and scalable, which is independent any global information of the network graph and is independent of the UHs's scale and we proved the stability of the closed-loop. Finally, the effectiveness and superiority of the designed strategy are demonstrated by numerical simulations.

AB - The fully distributed robust formation control of unmanned helicopters (UHs) with external disturbances and model uncertainty capability is investigated. In the position loop and the attitude loop, continuous fast robust controllers are proposed, and an integral filter is introduced between two loop. The stability of the whole closed-loop system is guaranteed through Lyapunov theory and input-to-state stability (ISS). Compared to the previous related works, our main contribution is that the proposed adaptive control strategy is fully distributed and scalable, which is independent any global information of the network graph and is independent of the UHs's scale and we proved the stability of the closed-loop. Finally, the effectiveness and superiority of the designed strategy are demonstrated by numerical simulations.

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Y2 - 9 October 2020 through 11 October 2020

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Robust safety formation control for multiple unmanned helicopters

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