Automation and Control Engineering
1 total work
Robust Formation Control for Multiple Unmanned Aerial Vehicles
by Hao Liu, Deyuan Liu, Yan Wan, Kimon Valavanis, and Frank Lewis
This book is based on the authors’ recent research results on formation control problems, including time-varying formation, communication delays, fault tolerant formation, for multiple UAV systems with highly nonlinear and coupled, parameters uncertainties, and external disturbances.
Different from the existing works, the book presents a robust optimal formation approach to design distributed cooperative control laws for a group of UAVs, based on the linear quadratic regulator control method and the robust compensation theory. The proposed control method is composed of two parts: the nominal part to achieve desired tracking performance and the robust compensation part to restrain the influence of highly nonlinear and strongly coupled, parameters uncertainties, and external disturbances on the global closed-loop control system. Furthermore, the book gives the proof of the robust properties. The influence of communication delays and actuator fault tolerant can be restrained by the proposed robust formation control protocol and the formation tracking errors can converge into a neighborhood of the origin bounded by a given constant in a finite time. Moreover, the book provides details about the practical application of the proposed method to design formation control systems for multiple quadrotors and tail-sitters.
The main features of this book are that a robust control method is proposed to address formation control problem for UAVs, and theoretical and experimental researches for the cooperative flight of quadrotor UAV group and tail-sitter UAV group are provided. This book is suitable to graduate students, researchers, and engineers in the system and control community, especially those engaged in the area of robust control, UAV swarming, and multi-agent system.