Flight Formation Control

Name: Flight Formation Control
Brand: Wiley-ISTE
Price: 144.99 EUR
Availability: OnlineOnly

Josep Guerrero Rogelio Lozano(Editor)

Wiley-ISTE (Publisher)

Published on 17. December 2012

328 pages

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978-1-118-56322-9 (ISBN)

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In the last decade the development and control of UnmannedAerial Vehicles (UAVs) has attracted a lot of interest. Bothresearchers and companies have a growing interest in improving thistype of vehicle given their many civilian and militaryapplications. This book presents the state of the art in the area of UAV FlightFormation. The coordination and robust consensus approaches arepresented in detail as well as formation flight control strategieswhich are validated in experimental platforms. It aims at helpingstudents and academics alike to better understand what coordinationand flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV FlightFormation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano,M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with ParametricUncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of NetworkedRobotic Systems on Strongly Connected Graphs, Y.-C. Liu, N.Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A.Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A.Guerrero. 8. Formation Based on Potential Functions, L. García, A.Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A.Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R.García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying inWind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the QuadrotorFormation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M.Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional AntennaArrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A.Mendez.

Reviews / Votes

"Overall this book delivers necessary backgrounds, basic and advanced nonlinear control algorithms and the associated challenges such as visual navigation and communication for those who are interested in studying and developing UAV formation flight strategies with guaranteed stability and performance." (The Aeronautical Journal, 3 February 2015)

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Content

Cover
Flight Formation Control
Title Page
Copyright Page
Table of Contents
Chapter 1. Introduction
1.1. Motivation
1.2. Historical background
1.2.1. Aviation history
1.2.2. Evolution of UAVs
1.2.3. UAV classification
1.3. Flight control
1.4. Flight formation control
1.4.1. Multiple-input and multiple-output
1.4.2. Leader/follower
1.4.3. Virtual structure
1.4.4. Behavior-based control
1.4.5. Passivity-based control
1.5. Outline of the book
1.6. Bibliography
Chapter 2. Theoretical Preliminaries
2.1. Passivity
2.2. Graph theory
2.3. Robustness problems
2.3.1. Representation of the parametric uncertainty
2.3.2. Families of polynomials
2.4. Bibliography
Chapter 3. Multiagent Coordination Strategies
3.1. Introduction
3.2. Controllability and observability of interconnections
3.2.1. Cyclic topology
3.2.2. Chain topology: input and output on agent 1
3.2.3. Chain topology: input and output on agent 2
3.2.4. Eigenvalues and eigenvectors of the system
3.2.5. General case
3.2.6. The cyclic topology in the general case
3.2.6.1. Observability
3.2.6.2. Controllability
3.2.7. The chain topology in the general case
3.2.7.1. Controllability
3.2.7.2. Observability
3.2.8. Combinations of chain and cyclic topologies
3.2.8.1. Controllability
3.2.8.2. Observability
3.2.9. Simple configurations that are either non-controllable or non-observable
3.2.9.1. Example 1
3.2.9.2. Example 2
3.2.9.3. Example 3
3.2.9.4. Example 4
3.2.9.5. Example 5
3.3. Formation leader tracking
3.3.1. Formation leader tracking in the general case
3.3.2. Observer design
3.3.3. Simulations
3.4. Time-varying trajectory tracking
3.5. Linear high-order multiagent consensus
3.5.1. Trajectory-tracking control
3.6. Conclusion
3.7. Bibliography
Chapter 4. Robust Control Design of Multiagent Systems with Parametric Uncertainty
4.1. Introduction
4.2. Robust control design
4.3. Robust stability analysis
4.3.1. Robust strict positive realness
4.3.2. Robust absolute stability
4.4. Robust stability of time-delay systems
4.5. Application to multiagent systems
4.5.1. Cyclic topology
4.5.2. Chain topology
4.5.3. Balanced graph topology
4.6. Conclusions
4.7. Bibliography
Chapter 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs
5.1. Summary
5.2. Introduction
5.3. Problem formulation
5.4. Adaptive controlled synchronization on strongly connected graphs
5.4.1. Delay-free synchronization
5.4.2. Synchronization with time delay
5.5. Robust controlled synchronization on strongly connected graph
5.5.1. Delay-free synchronization
5.5.2. Synchronization with time delay
5.6. Numerical examples
5.6.1. Adaptive tracking algorithm
5.6.2. Robust tracking algorithm
5.6.3. Disturbances
5.7. Conclusions
5.8. Appendix
5.8.1. Robotic system
5.8.2. Graph theory
5.9. Bibliography
Chapter 6. Modeling and Control of Mini UAV
6.1. Introduction
6.2. General model
6.2.1. Translational motion
6.2.2. Angular motion
6.2.3. Angular rate
6.3. Control of a mini tailsitter
6.3.1. Linear control strategy
6.3.1.1. Roll subsystem
6.3.1.2. Pitch subsystem
6.3.1.3. Yaw subsystem
6.3.2. Robust control considering parametric uncertainty
6.3.2.1. Pitch subsystem
6.3.2.2. Yaw subsystem
6.3.2.3. Roll subsystem
6.3.2.4. Time delay case
6.3.3. Simulation results
6.3.3.1. Linear controller
6.3.3.2. Robust controller
6.3.4. Experimental results
6.4. Quad-tilting rotor convertible MAV
6.4.1. Modeling
6.4.1.1. Aerodynamics
6.4.1.2. FFF mathematical model
6.4.2. Transition
6.4.3. Control strategy for hover flight mode
6.4.4. Control strategy for forward flight mode
6.4.5. Simulation results
6.4.5.1. HF mode
6.4.5.2. FFF mode
6.5. Concluding remarks
6.6. Bibliography
Chapter 7. Flight Formation Control Strategies for Mini UAVs
7.1. Introduction
7.2. Formation geometry
7.2.1. Triangular formation
7.2.2. Line formation
7.3. Communication network
7.4. Dynamic model
7.5. Formation flying control based on coordination
7.5.1. Formation control
7.6. Formation flying control based on nested saturations
7.6.1. Formation control
7.7. Trajectory-tracking control
7.7.1. Time-varying reference tracking
7.7.1.1. Chain topology
7.7.1.2. Cyclic topology
7.8. Simulation results
7.8.1. High-order consensus-based formation
7.8.2. Nested saturations based formation
7.8.3. Time-vayring tracking
7.9. Conclusions
7.10. Bibliography
Chapter 8. Formation Based on Potential Functions
8.1. Introduction
8.2. Dynamical model
8.3. Formation control
8.3.1. Interactive potential energy and force
8.3.2. Collision avoidance
8.3.3. Obstacle avoidance
8.3.4. Total structural force
8.4. Position control
8.4.1. Altitude and yaw control
8.4.2. Nested saturation control
8.4.2.1. Change of variables for the nested saturation
8.4.2.2. Nested saturation formation control
8.4.3. Stability analysis
8.4.4. Stability analysis for the interconnected system
8.4.5. Bounded force
8.4.6. Repulsive distance
8.5. Simulation results
8.5.1. Obstacle avoidance
8.5.2. Multiple formations
8.6. Conclusions
8.7. Bibliography
Chapter 9. Quadrotor Vision-Based Control
9.1. Introduction
9.2. Quadrotor dynamic model and control
9.2.1. Dynamic model
9.2.2. Nonlinear control
9.2.3. Trajectory-tracking control
9.3. Computer vision preliminaries
9.3.1. Camera model
9.3.2. Projective distortion removal
9.3.3. Affine distortion removal
9.4. Tracking of a visual target
9.4.1. Edge-detection algorithm
9.4.2. Polygons properties
9.4.3. Square-detection algorithm
9.4.4. Image rectification
9.4.5. Solving the 3D localization problem
9.4.6. OF measurement
9.5. Tracking of a visual line
9.5.1. Vanishing point detection
9.6. Embedded architecture
9.7. Experimental results
9.7.1. Visual target position stabilization
9.7.2. Tracking of a visual line with no marks
9.8. Conclusions
9.9. Bibliography
Chapter 10. Toward Vision-Based Coordination of Quadrotor Platoons
10.1. Introduction
10.2. Problem statement
10.2.1. Description of the process
10.2.2. Objective of our approach
10.3. Dynamic model and control of a quadrotor
10.3.1. Dynamic model
10.3.2. Vehicle stabilization
10.4. Vision-based position estimation
10.4.1. Visual system setup
10.4.2. Computing the 3D position
10.4.3. Translational velocities
10.4.4. Prediction of the landing pad position
10.5. Coordination position control of two quadrotors
10.6. Architecture of the experimental platforms
10.6.1. Quadrotor system
10.6.2. Ground station
10.6.3. Monocular imaging system implementation
10.7. Experimental results
10.8. Conclusions and future work
10.9. Bibliography
Chapter 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields
11.1. Introduction
11.2. Preliminaries
11.2.1. Dynamic model
11.2.2. Vehicle control
11.3. Path planning
11.3.1. Center of mass of the platoon
11.3.2. Zermelo navigation problem: case 2D
11.3.2.1. Navigation equation
11.3.2.2. One particular solution
11.3.3. Zermelo navigation problem: case 3D
11.3.3.1. Constant wind
11.3.3.2. Linear variation of wind velocity
11.4. Quadrotor formation control scheme
11.5. Quadrotor trajectory-tracking control
11.6. Simulation results
11.6.1. Reference given to leader vehicle
11.6.2. Reference given to all vehicles
11.7. Conclusions and future work
11.8. Bibliography
Chapter 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control
12.1. Introduction
12.2. Multiquadrotor consensus
12.2.1. Quadrotor dynamic model and control
12.2.2. From individual to collective behavior
12.3. Multiagent consensus over wireless networks
12.3.1. CSMA/CA
12.3.2. TDMA
12.3.3. Network analysis
12.4. Quadrotor consensus over wireless networks
12.5. Simulation results
12.6. Conclusions and future work
12.7. Bibliography
Chapter 13. MAC Protocol for Wireless Communications
13.1. Introduction
13.2. Protocols of medium access control
13.2.1. Slotted ALOHA
13.2.1.1. Modeling of S-ALOHA
13.2.2. Carrier sense multiple access
13.2.2.1. Modeling of CSMA
13.2.3. Inhibit sense multiple access
13.2.3.1. Modeling of ISMA
13.2.4. Results of performance evaluation
13.3. Proposed MAC protocol
13.4. Experimental setup and results
13.5. Conclusions
13.6. Acknowledgments
13.7. Bibliography
Chapter 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance
14.1. Introduction
14.2. Design of planar antenna arrays
14.2.1. Theoretical model
14.2.2. Objective function used to optimize planar arrays
14.2.3. Results obtained for the design of planar arrays
14.3. Design of concentric ring arrays
14.3.1. Theoretical model
14.3.2. Results obtained for the design of concentric ring arrays
14.4. Discussions and open problems
14.5. Conclusions
14.6. Acknowledgments
14.7. Bibliography
List of Authors
Index

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Flight Formation Control

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