پیوندهای مفید
آمار
| تعداد نشریات | 21 |
| تعداد شماره‌ها | 657 |
| تعداد مقالات | 9,639 |
| تعداد مشاهده مقاله | 68,645,613 |
| تعداد دریافت فایل اصل مقاله | 48,117,595 |
Sliding mode leader-follower formation protocol design for nonlinear model of multi quadrotor | ||
| International Journal of Nonlinear Analysis and Applications | ||
| مقالات آماده انتشار، اصلاح شده برای چاپ، انتشار آنلاین از تاریخ 24 شهریور 1404 اصل مقاله (1.98 M) | ||
| نوع مقاله: Research Paper | ||
| شناسه دیجیتال (DOI): 10.22075/ijnaa.2024.29370.4138 | ||
| نویسندگان | ||
| Reza Ghasemi* 1؛ Fatemeh Ghaderi2؛ Alireza Toloei2 | ||
| 1Department of Electrical Engineering, University of Qom, Qom, Iran | ||
| 2Department of Aerospace Engineering, Shahid Beheshti University, Tehran, Iran | ||
| تاریخ دریافت: 18 دی 1401، تاریخ بازنگری: 27 شهریور 1403، تاریخ پذیرش: 03 مهر 1403 | ||
| چکیده | ||
| This paper deals with designing a sliding mode formation controller for a group of quadrotors in the presence of disturbances and uncertainties. In this approach, first-order, terminal, super-twisting, and nonsingular super-twisting terminal sliding mode controllers were developed and compared with each other. In the first-order controller, the phenomenon of chattering was observed in the control commands, which was solved by using the boundary layer method. Also, the results of the sensitivity analysis of the controllers showed that the nonsingular super-twisting terminal controller is less sensitive to the variation of the controller parameters, so this method was applied to control both the position and attitude of the flight formation of quadrotors. The formation strategy is based on a leader-follower approach. The leader tracks the prescribed reference trajectory, and the followers retain a constant distance from the leader. In addition, the proposed controllers are applied in the form of three missions to validate the formation controller results. In the first mission, the formation of three triangular quadrotors along the spiral path has been successfully attained. In the second task, the three quadrotors linearly track the S-shaped path. The third one is the same as the previous one, except that the number of quadrotors has increased to five. The results of the simulation showed that the convergence time and the overshoot/undershoot of the outputs are less than the other three methods in the nonsingular super-twisting terminal sliding mode controller. The simulation results for the mentioned missions for different paths, geometries, and the number of quadrotors indicate that the applied method has been successful in reducing the effects of disturbances and uncertainties, and the agents succeed in formation flight precisely. | ||
| کلیدواژه‌ها | ||
| Decentralized Control؛ Formation Control؛ Leader-Follower Formation؛ Quadrotor؛ Sliding Mode Control؛ Terminal Super-Twisting | ||
| مراجع | ||
|
[1] A. Abdessameud, A. Tayebi, and I. G. Polushin, Motion coordination of thrust-propelled underactuated vehicles in the presence of communication delays, 19th IFAC Cong., 2014, pp. 3170–3175. [2] R. Adderson and Y. J. Pan, Terminal sliding mode control for the formation of a team of quadrotors and mobile robots, IECON 47th Ann. Conf. IEEE Ind. Electron. Soc., 2021, pp. 1–6. [3] I. Bayezit and B. Fidan, Distributed cohesive motion control of flight vehicle formations, IEEE Trans. Ind. Electron. 60 (2013), no. 12, 5763–5772. [4] A. Bemporad and C. Rocchi, Decentralized hybrid model predictive control of a formation of unmanned aerial vehicles, 18th IFAC World Cong. 44 (2011), no. 1, 11900–11906. [5] H. Cai and J. Huang, The leader-following consensus of multiple rigid spacecraft systems, Amer. Control Conf. ACC 13 (2013), 824–829. [6] T. Dierks and S. Jagannathan, Neural network control of quadrotor UAV formations, Amer. Control Conf. ACC. 9 (2009), 2990–2996. [7] F. Gao and Y. Jia, Distributed finite-time coordination control for 6dof spacecraft formation using nonsingular terminal sliding mode, Proc. 2015 Chinese Intell. Syst. Conf., 2016, pp. 195–204. [8] H. Ghadiri, M. Emami, and H. Khodadadi, Adaptive super-twisting non-singular terminal sliding mode control for tracking of quadrotor with bounded disturbances, Aerospace Sci. Technol. 112 (2021), 106616. [9] J. Gonzalez-Sierra, A. Dzul, and E. Martınez, Formation control of distance and orientation based-model of an omnidirectional robot and a quadrotor UAV, Robotics Auton. Syst. 147 (2022), 103921. [10] Z. Hou, X. Yu, and P. Lu, Terminal sliding mode control for quadrotors with chattering reduction and disturbances estimator: Theory and application, J. Intell. Robotic Syst. 105 (2022), no. 4, 1–21. [11] S. Islam, P. X. Liu, and A. E. Saddik, Robust control of four rotor unmanned aerial vehicle with disturbance uncertainty, IEEE Trans. Ind. Electron. 62 (2015), no. 3, 1563–1571. [12] A. Karimoddini, M. Karimadini, and H. Lin, Decentralized hybrid formation control of unmanned aerial vehicles, arXiv preprint arXiv:1403.0258 (2014), 3887–3892. [13] M. Labbadi, M. Djemai, and S. Boubaker, A novel non-singular terminal sliding mode control combined with integral sliding surface for perturbed quadrotor, Proc. Inst. Mech. Engin., Part I: J. Syst. Control Engine. 236 (2022), no. 5, 999–1009. [14] M. Labbadi, K. Elyaalaoui, M. Dabachi, S. Lakrit, M. Djemai, and M. Cherkaoui, Robust flight control for a quadrotor under external disturbances based on predefined-time terminal sliding mode manifold, J. Vibr. Control 29 (2022), no. 9-10, 2064–2076. [15] P. Manouchehri, R. Ghasemi, and A. Toloei, Distributed fuzzy adaptive sliding mode formation for nonlinear multi-quadrotor systems, Int. J. Engin. 33 (2020), no. 5, 798–804. [16] A.J. Marasco, S.N. Givigi, M. Iskandarani, S. Yousefi, and C.A. Rabbath, Solving multi-UAV dynamic encirclement via model predictive control, IEEE Trans. Control Syst. Technol. 23 (2015), no. 6, 2251–2265. [17] O. Mechali, J. Iqbal, A. Mechali, X. Xie, and L. Xu, Finite-time attitude control of uncertain quadrotor aircraft via continuous terminal sliding-mode-based active anti-disturbance approach, IEEE Int. Conf. Mechatron. Autom., 2021, pp. 1170–1175. [18] O. Mechali, L. Xu, Y. Huang, M. Shi, and X. Xie, Observer-based fixed-time continuous nonsingular terminal sliding mode control of quadrotor aircraft under uncertainties and disturbances for robust trajectory tracking: Theory and experiment, Control Engin. Practice 111 (2021), 104806. [19] N.P. Nguyen, D. Park, D.N. Ngoc, N. Xuan-Mung, T.T. Huynh, T.N. Nguyen, and S.K. Hong, Quadrotor formation control via terminal sliding mode approach: Theory and experiment results, Drones 6 (2022), no. 7, 172. [20] U. Pilz, A. Popov, and H. Werner, Robust controller design for formation flight of quad-rotor helicopters, Joint 48th IEEE Conf. Decis. Control 28th Chinese Control Conf., 2009, pp. 8322–8327. [21] G. Regula and B. Lantos, Formation control of quadrotor helicopters with guaranteed collision avoidance via safe path, Electric. Engin. Comput. Sci. 4 (2012), no. 56, 113–124. [22] M. Saska, Z. Kasl, and L. Preucil, Motion planning and control of formations of micro aerial vehicles, 19th IFAC Congress 47 (2014), no. 3, 1228–1233. [23] M. Turpin, N. Michael, and V. Kumar, Decentralized formation control with variable shapes for aerial robots, IEEE Int. Conf. Robotics Autom., 2012, pp. 23–30. [24] M. Turpin, N. Michael, and V. Kumar, Trajectory design and control for aggressive formation flight with quadrotors, Auton. Robots 33 (2012), no. 1-2, 143–156. [25] M. Turpin, N. Michael, and V. Kumar, Capt: Concurrent assignment and planning of trajectories for multiple robots, Int. J. Robotics Res. 33 (2014), no. 1, 98–112. [26] S. Yang, J. Mao, and F. Xu, Integral terminal sliding mode control for quadrotor based on a novel power reaching law, Int. Conf. Comput. Control Ind. Engin., 2022, pp. 177–192. | ||
|
آمار تعداد مشاهده مقاله: 25 تعداد دریافت فایل اصل مقاله: 32 |
||