| 摘要: |
| 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. |
| 关键词: Consensus control, multi-agent system, quadrotor, Lyapunov stability, distributed system |
| DOI： |
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| 基金项目: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, N00014-18-1-2221). |
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| Consensus controller for multi-UAV navigation |
| P. Kolaric,C. Chen,A. Dalal,F. L. Lewis |
| (UTA Research Institute, University of Texas at Arlington, 7300 Jack Newell Blvd S, Fort Worth, TX, 76118, U.S.A.;School of Automation, Guangdong University of Technology; Guangdong Key Laboratory of IoT Information Technology, Guangzhou Guangzhou 510006, China; UTA Research Institute, University of Texas at Arlington, 7300 Jack Newell Blvd S, Fort Worth, TX, 76118, U.S.A.;UTA Research Institute, University of Texas at Arlington, 7300 Jack Newell Blvd S, Fort Worth, TX, 76118, U.S.A.; State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang Liaoning 110819, China) |
| Abstract: |
| 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. |
| Key words: Consensus control, multi-agent system, quadrotor, Lyapunov stability, distributed system |
