Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances
Xie,Wei1; Cabecinhas,David2; Cunha,Rita3; Silvestre,Carlos4
2020
Source PublicationIEEE Transactions on Systems, Man, and Cybernetics: Systems
ISSN2168-2216
AbstractIn this article, we address the task of cooperative path following control of multiple autonomous quadcopters in the presence of unknown external disturbances. Under the assumption that the communications among the vehicles are bidirectional and continuous, a synchronized path following strategy is proposed that regulates the speed of each vehicle along its path to reach consensus in relative position. Moreover, collision-free transient paths from the vehicle initial positions to a group of suitable selected positions along the desired paths are designed. Building on the backstepping technique, the proposed path following controller for each individual vehicle drives the quadcopter toward, and to stay within an arbitrarily small neighborhood of its corresponding desired path, achieving global uniformly ultimately boundedness. In addition, the devised controller guarantees that the actuations are bounded with respect to the position error. The controller is also made robust to external constant or slowly time-varying disturbances by the introduction of dynamic estimators for the disturbances. A projection operator is used to ensure that the estimates remain within the prescribed bounds and are sufficiently smooth to be backstepped. In order to validate the effectiveness and performance of the proposed methodology, we present and analyze both simulation and experimental results.
KeywordAnalytical models Backstepping Collision free cooperative path following (CPF) disturbance estimator multiple quadcopters robust Synchronization Task analysis Trajectory Transient analysis Vehicle dynamics
DOI10.1109/TSMC.2020.3032401
URLView the original
Language英语
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Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau, China.
2.Institute for Systems and Robotics, Instituto Superior Téncnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal.
3.Institute for Systems and Robotics, Instituto Superior Téncnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal, and also with the Department of Electrical and Computer Engineering, Universidade de Lisboa, 1049-001 Lisbon, Portugal.
4.Faculty of Science and Technology, Department of Electrical and Computer Engineering, University of Macau, Macau, China, on leave from the Instituto Superior Téncnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal (e-mail: csilvestre@um.edu.mo)
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Xie,Wei,Cabecinhas,David,Cunha,Rita,et al. Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2020.
APA Xie,Wei,Cabecinhas,David,Cunha,Rita,&Silvestre,Carlos.(2020).Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances.IEEE Transactions on Systems, Man, and Cybernetics: Systems.
MLA Xie,Wei,et al."Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances".IEEE Transactions on Systems, Man, and Cybernetics: Systems (2020).
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