Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localizatio...Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.展开更多
The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ posit...The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.展开更多
Distributed formation control of multiple quadrotor unmanned aerial vehicles(MQUAVs)has emerged as a promising solution for cooperative operations,with substantial advancements reported[1,2].Note that in largescale fo...Distributed formation control of multiple quadrotor unmanned aerial vehicles(MQUAVs)has emerged as a promising solution for cooperative operations,with substantial advancements reported[1,2].Note that in largescale formations,only a subset of followers communicates directly with the leader while the remainder rely on multi-hop relaying,which may compromise command timeliness[3].Existing finite/fixed-time formation schemes[4,5],while effective,involve complex settling time calculations and lack well-defined means to adjust transient and steady-state performance.展开更多
This paper investigates a human-in-the-loop(HiTL)adaptive predefined-time formation control design with selftriggered communication for multiple quadrotor unmanned aerial vehicles subject to asymmetric full-state cons...This paper investigates a human-in-the-loop(HiTL)adaptive predefined-time formation control design with selftriggered communication for multiple quadrotor unmanned aerial vehicles subject to asymmetric full-state constraints and actuator faults.First,the constrained vehicle dynamics are converted to unconstrained ones by constructing a universal nonlinear transformation function,where the feasibility condition restrictions inherent in traditional barrier/integral barrier Lyapunov functions are eliminated.Then,the HiTL control strategy is integrated into the formation design framework,which ensures that human decision-making can be directly applied to the non-autonomous leader,thereby enhancing the flexibility and adaptability of the controlled vehicles.Moreover,a self-triggered predefined-time formation control protocol is designed to allow non-periodic and on-demand updates of control signals without monitoring behaviour.Rigorous theoretical analysis indicates that the closed-loop attitude and position subsystems are practically predefined-time stable,and the formation tracking errors converge to the neighborhood around the origin within a pre-specified time while strictly adhering to asymmetric state constraints.Finally,comprehensive illustrative results validate the effectiveness of the proposed control scheme.展开更多
基金the National Natural Science Foundation of China(Grant Nos.62303348 and 62173242)the Aeronautical Science Foundation of China(Grant No.2024M071048002)the National Science Fund for Distinguished Young Scholars(Grant No.62225308)to provide fund for conducting experiments.
文摘Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.
基金supported by the National Natural Science Foundation of China(61074031)
文摘The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.
基金supported by the National Natural Science Foundation of China(Grant Nos.62473130,62203153,62573178)the Outstanding Youth Innovation Research Group Project of Natural Science Foundation of Henan Province(Grant No.252300421004)+4 种基金the Central Plains Talent Program–Leading Talents in Basic Research of Henan Provincein part by the Central Plains Talent Program–Science and Technology Innovation Outstanding Young Talents of Henan Provincethe Joint Fund of Science and Technology R&D Plan of Henan Province for Young Scientists(Grant No.235200810105)the Application Research Project of the Joint Fund of Science and Technology R&D Plan of Henan Province(Grant No.242103810052)the Technology Innovative Teams in University of Henan Province(Grant No.23IRT-STHN012)。
文摘Distributed formation control of multiple quadrotor unmanned aerial vehicles(MQUAVs)has emerged as a promising solution for cooperative operations,with substantial advancements reported[1,2].Note that in largescale formations,only a subset of followers communicates directly with the leader while the remainder rely on multi-hop relaying,which may compromise command timeliness[3].Existing finite/fixed-time formation schemes[4,5],while effective,involve complex settling time calculations and lack well-defined means to adjust transient and steady-state performance.
基金supported by the National Natural Science Foundation of China(Grant Nos.62473130,62203153)the Outstanding Youth Innovation Research Group Project of Natural Science Foundation of Henan Province(Grant No.252300421004)+3 种基金the Central Plains Talent Program—Leading Talents in Basic Research of Henan Province,the Central Plains Talent Program—Science and Technology Innovation Outstanding Young Talents of Henan Provincethe Joint Fund of Science and Technology R&D Plan of Henan Province for Young Scientists(Grant No.235200810105)the Application Research Project of the Joint Fund of Science and Technology R&D Plan of Henan Province(Grant No.242103810052)the Technology Innovative Teams in University of Henan Province(Grant No.23IRTSTHN012)。
文摘This paper investigates a human-in-the-loop(HiTL)adaptive predefined-time formation control design with selftriggered communication for multiple quadrotor unmanned aerial vehicles subject to asymmetric full-state constraints and actuator faults.First,the constrained vehicle dynamics are converted to unconstrained ones by constructing a universal nonlinear transformation function,where the feasibility condition restrictions inherent in traditional barrier/integral barrier Lyapunov functions are eliminated.Then,the HiTL control strategy is integrated into the formation design framework,which ensures that human decision-making can be directly applied to the non-autonomous leader,thereby enhancing the flexibility and adaptability of the controlled vehicles.Moreover,a self-triggered predefined-time formation control protocol is designed to allow non-periodic and on-demand updates of control signals without monitoring behaviour.Rigorous theoretical analysis indicates that the closed-loop attitude and position subsystems are practically predefined-time stable,and the formation tracking errors converge to the neighborhood around the origin within a pre-specified time while strictly adhering to asymmetric state constraints.Finally,comprehensive illustrative results validate the effectiveness of the proposed control scheme.
