Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader*

School of Engineering

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MIM_IFAC_Conference_Distributed Robust
Rights statement: This is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, 55, (10), 2022 DOI: 10.1016/j.ifacol.2022.10.111
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https://doi.org/10.1016/j.ifacol.2022.10.111
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Keywords

Quadrotor, unmanned aerial systems (UASs), robust distributed scheme, synchronization control, leader-following, consensus, time-varying disturbance

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Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader*. / Imran, Imil Hamda ; Montazeri, Allahyar.
In: IFAC-PapersOnLine, Vol. 55, No. 10, 26.10.2022, p. 2659-2664.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Bibtex

@article{673ccf0904bd434fa8d3b02ca6003965,

title = "Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader*",

abstract = "This paper studies leader-following synchronization control of a group of multiple quadrotor unmanned aerial systems (UASs). A robust distributed scheme is developed to maintain the attitude motions of UASs with an active virtual leader. Complicated settings are considered in the design, where the topology is in a directed graph, and only one or some agents are connected to the leader. UASs can have different dynamic parameters. Also, some time-varying disturbances are added to the closed-loop system. A control protocol containing a robust term is proposed to each UAS to achieve asymptotic consensus. A rigorous mathematical proof and numerical example are presented to demonstrate the effectiveness of our scheme.",

keywords = "Quadrotor, unmanned aerial systems (UASs), robust distributed scheme, synchronization control, leader-following, consensus, time-varying disturbance",

author = "Imran, {Imil Hamda} and Allahyar Montazeri",

note = "This is the author{\textquoteright}s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, 55, (10), 2022 DOI: 10.1016/j.ifacol.2022.10.111",

year = "2022",

month = oct,

day = "26",

doi = "10.1016/j.ifacol.2022.10.111",

language = "English",

volume = "55",

pages = "2659--2664",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

publisher = "IFAC Secretariat",

number = "10",

}

RIS

TY - JOUR

T1 - Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader*

AU - Imran, Imil Hamda

AU - Montazeri, Allahyar

N1 - This is the author’s version of a work that was accepted for publication in IFAC-PapersOnLine. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in IFAC-PapersOnLine, 55, (10), 2022 DOI: 10.1016/j.ifacol.2022.10.111

PY - 2022/10/26

Y1 - 2022/10/26

N2 - This paper studies leader-following synchronization control of a group of multiple quadrotor unmanned aerial systems (UASs). A robust distributed scheme is developed to maintain the attitude motions of UASs with an active virtual leader. Complicated settings are considered in the design, where the topology is in a directed graph, and only one or some agents are connected to the leader. UASs can have different dynamic parameters. Also, some time-varying disturbances are added to the closed-loop system. A control protocol containing a robust term is proposed to each UAS to achieve asymptotic consensus. A rigorous mathematical proof and numerical example are presented to demonstrate the effectiveness of our scheme.

AB - This paper studies leader-following synchronization control of a group of multiple quadrotor unmanned aerial systems (UASs). A robust distributed scheme is developed to maintain the attitude motions of UASs with an active virtual leader. Complicated settings are considered in the design, where the topology is in a directed graph, and only one or some agents are connected to the leader. UASs can have different dynamic parameters. Also, some time-varying disturbances are added to the closed-loop system. A control protocol containing a robust term is proposed to each UAS to achieve asymptotic consensus. A rigorous mathematical proof and numerical example are presented to demonstrate the effectiveness of our scheme.

KW - Quadrotor

KW - unmanned aerial systems (UASs)

KW - robust distributed scheme

KW - synchronization control

KW - leader-following

KW - consensus

KW - time-varying disturbance

U2 - 10.1016/j.ifacol.2022.10.111

DO - 10.1016/j.ifacol.2022.10.111

M3 - Journal article

VL - 55

SP - 2659

EP - 2664

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 10

ER -

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