Cooperative Target-centric Formation Control without Relative Velocity Measurements under Heterogeneous Networks

Cooperative Target-centric Formation Control without Relative Velocity Measurements under... This paper proposes distributed control laws for a group of unmanned aerial vehicles (UAVs) to make and maintain a circular formation around a maneuvering target. The work considers usage of heterogeneous communication networks to achieve the desired formation. Two different scenarios are considered on velocity information. In both scenarios, it is assumed that each UAV has its own position and velocity measurements available to itself. However, the team is unable to exchange velocity information among themselves. In the first scenario, each agent uses its own position and velocity information in the consensus algorithm. In the second scenario, agents need only position information for the consensus algorithm. For both the approaches, each agent calculates a virtual estimate of target’s velocity from the received information and exchanges the estimate with its neighbors. The control algorithms are developed using heterogeneous communication networks to satisfy a communication bandwidth constraint. Three different communication networks are used to circulate position information, virtual estimates, and its time derivatives. The graphs representing communication networks are undirected and connected. Further, it is considered that there is at least one UAV (agent) receiving position, velocity, and acceleration information of the target. The agent receiving target’s position need not be the same agent which receives velocity and/or acceleration information of the maneuvering target. However, the target does not receive any information from any agent. Using Barbalat’s lemma, the stability of the target-centric formation of a group of UAVs is analyzed. The performance of the proposed laws are illustrated through numerical simulations. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Journal of Intelligent & Robotic Systems Springer Journals

Cooperative Target-centric Formation Control without Relative Velocity Measurements under Heterogeneous Networks

Loading next page...
 
/lp/springer_journal/cooperative-target-centric-formation-control-without-relative-velocity-wqUAKuq4oH
Publisher
Springer Netherlands
Copyright
Copyright © 2017 by Springer Science+Business Media Dordrecht
Subject
Engineering; Control, Robotics, Mechatronics; Electrical Engineering; Artificial Intelligence (incl. Robotics); Mechanical Engineering
ISSN
0921-0296
eISSN
1573-0409
D.O.I.
10.1007/s10846-017-0497-6
Publisher site
See Article on Publisher Site

References

You’re reading a free preview. Subscribe to read the entire article.


DeepDyve is your
personal research library

It’s your single place to instantly
discover and read the research
that matters to you.

Enjoy affordable access to
over 12 million articles from more than
10,000 peer-reviewed journals.

All for just $49/month

Explore the DeepDyve Library

Unlimited reading

Read as many articles as you need. Full articles with original layout, charts and figures. Read online, from anywhere.

Stay up to date

Keep up with your field with Personalized Recommendations and Follow Journals to get automatic updates.

Organize your research

It’s easy to organize your research with our built-in tools.

Your journals are on DeepDyve

Read from thousands of the leading scholarly journals from SpringerNature, Elsevier, Wiley-Blackwell, Oxford University Press and more.

All the latest content is available, no embargo periods.

See the journals in your area

Monthly Plan

  • Read unlimited articles
  • Personalized recommendations
  • No expiration
  • Print 20 pages per month
  • 20% off on PDF purchases
  • Organize your research
  • Get updates on your journals and topic searches

$49/month

Start Free Trial

14-day Free Trial

Best Deal — 39% off

Annual Plan

  • All the features of the Professional Plan, but for 39% off!
  • Billed annually
  • No expiration
  • For the normal price of 10 articles elsewhere, you get one full year of unlimited access to articles.

$588

$360/year

billed annually
Start Free Trial

14-day Free Trial