Speed-Gradient Adaptive Control for Parametrically Uncertain UAVs in Formation
The paper is devoted to the problem of the decentralized control of unmanned aerial vehicle (UAV) formation in the case of parametric uncertainty. A new version of the feedback linearization approach is proposed and used for a point mass UAV model transformation. As result, a linear model is obtaine...
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| Veröffentlicht in: | Electronics (Basel) 2022-12, Vol.11 (24), p.4187 |
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| creator | Popov, Alexander M. Kostrygin, Daniil G. Shevchik, Anatoly A. Andrievsky, Boris |
| description | The paper is devoted to the problem of the decentralized control of unmanned aerial vehicle (UAV) formation in the case of parametric uncertainty. A new version of the feedback linearization approach is proposed and used for a point mass UAV model transformation. As result, a linear model is obtained containing an unknown value of the UAV mass. Employing the speed-gradient design method and the implicit reference model concept, a combined adaptive control law is proposed for a single UAV, including the UAV’s mass estimation and adaptive tuning of the controller parameters. The obtained new algorithms are then used to address the problem of consensus-based decentralized control of the UAV formation. Rigorous stability conditions for control and identification are derived, and simulation results are presented to demonstrate the quality of the closed-loop control system for various conditions. |
| doi_str_mv | 10.3390/electronics11244187 |
| format | Article |
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| source | MDPI - Multidisciplinary Digital Publishing Institute; EZB-FREE-00999 freely available EZB journals |
| subjects | Adaptation Adaptive control Algorithms Closed loops Communication channels Control algorithms Control systems Control theory Controllers Decentralized control Drone aircraft Efficiency Feedback control Feedback linearization Optimization Satellites Simulation Unmanned aerial vehicles |
| title | Speed-Gradient Adaptive Control for Parametrically Uncertain UAVs in Formation |
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