In this paper, we design consensus algorithms for multiple unmanned aerial vehicles （UAV）. We mainly focus on the control design in the face of measurement noise and propose a position consensus controller based on ...In this paper, we design consensus algorithms for multiple unmanned aerial vehicles （UAV）. We mainly focus on the control design in the face of measurement noise and propose a position consensus controller based on the sliding mode control by using the distributed UAV information. Within the framework of Lyapunov theory, it is shown that all signals in the closed-loop multi- UAV systems are stabilized by the proposed algorithm, while consensus errors are uniformly ultimately bounded. Moreover, for each local UAV, we propose a mechanism to define the trustworthiness, based on which the edge weights are tuned to eliminate negative influence from stubborn agents or agents exposed to extremely noisy measurement. Finally, we develop software for a nano UAV platform, based on which we implement our algorithms to address measurement noises in UAV flight tests. The experimental results validate the effectiveness of the proposed algorithms.展开更多
Flight controllers for micro-air UAVs are generally designed using proportional-integral-derivative(PID)methods,where the tuning of gains is difficult and time-consuming,and performance is not guaranteed.In this paper...Flight controllers for micro-air UAVs are generally designed using proportional-integral-derivative(PID)methods,where the tuning of gains is difficult and time-consuming,and performance is not guaranteed.In this paper,we develop a rigorous method based on the sliding mode analysis and nonlinear backstepping to design a PID controller with guaranteed performance.This technique provides the structure and gains for the PID controller,such that a robust and fast response of the UAV(unmanned aerial vehicle)for trajectory tracking is achieved.First,the second-order sliding variable errors are used in a rigorous nonlinear backstepping design to obtain guaranteed performance for the nonlinear UAV dynamics.Then,using a small angle approximation and rigorous geometric manipulations,this nonlinear design is converted into a PID controller whose structure is naturally determined through the backstepping procedure.PID gains that guarantee robust UAV performance are finally computed from the sliding mode gains and from stabilizing gains for tracking error dynamics.We prove that the desired Euler angles of the inner attitude controller loop are related to the dynamics of the outer backstepping tracker loop by inverse kinematics,which provides a seamless connection with existing built-in UAV attitude controllers.We implement the proposed method on actual UAV,and experimental flight tests prove the validity of these algorithms.It is seen that our PID design procedure yields tighter UAV performance than an existing popular PID control technique.展开更多
基金This work was supported in part by the National Natural Science Foundation of China （No. 61633007, 61703112）, in part by the China Postdoctoral Science Foundation （No. 2016M600643） and the special fund （No. 2017T100618）, and in part by the Office of Naval Research （No. N00014-17-1-2239, NO0014-18-1-2221 ）.
文摘In this paper, we design consensus algorithms for multiple unmanned aerial vehicles （UAV）. We mainly focus on the control design in the face of measurement noise and propose a position consensus controller based on the sliding mode control by using the distributed UAV information. Within the framework of Lyapunov theory, it is shown that all signals in the closed-loop multi- UAV systems are stabilized by the proposed algorithm, while consensus errors are uniformly ultimately bounded. Moreover, for each local UAV, we propose a mechanism to define the trustworthiness, based on which the edge weights are tuned to eliminate negative influence from stubborn agents or agents exposed to extremely noisy measurement. Finally, we develop software for a nano UAV platform, based on which we implement our algorithms to address measurement noises in UAV flight tests. The experimental results validate the effectiveness of the proposed algorithms.
基金supported by the Office of Naval Research(Nos.N00014-17-1-2239,N00014-18-1-2221)the National Science Foundation(No.ECCS-1839804).
文摘Flight controllers for micro-air UAVs are generally designed using proportional-integral-derivative(PID)methods,where the tuning of gains is difficult and time-consuming,and performance is not guaranteed.In this paper,we develop a rigorous method based on the sliding mode analysis and nonlinear backstepping to design a PID controller with guaranteed performance.This technique provides the structure and gains for the PID controller,such that a robust and fast response of the UAV(unmanned aerial vehicle)for trajectory tracking is achieved.First,the second-order sliding variable errors are used in a rigorous nonlinear backstepping design to obtain guaranteed performance for the nonlinear UAV dynamics.Then,using a small angle approximation and rigorous geometric manipulations,this nonlinear design is converted into a PID controller whose structure is naturally determined through the backstepping procedure.PID gains that guarantee robust UAV performance are finally computed from the sliding mode gains and from stabilizing gains for tracking error dynamics.We prove that the desired Euler angles of the inner attitude controller loop are related to the dynamics of the outer backstepping tracker loop by inverse kinematics,which provides a seamless connection with existing built-in UAV attitude controllers.We implement the proposed method on actual UAV,and experimental flight tests prove the validity of these algorithms.It is seen that our PID design procedure yields tighter UAV performance than an existing popular PID control technique.
