A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Advanced Search
Volume 7 Issue 2
Mar.  2020

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 15.3, Top 1 (SCI Q1)
    CiteScore: 23.5, Top 2% (Q1)
    Google Scholar h5-index: 77， TOP 5
Turn off MathJax
Article Contents
Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2020  >  7(2): 505-516
Yangyang Chen, Rui Yu, Ya Zhang and Chenglin Liu, "Circular Formation Flight Control for Unmanned Aerial Vehicles With Directed Network and External Disturbance," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 505-516, Mar. 2020. doi: 10.1109/JAS.2019.1911669
Citation: Yangyang Chen, Rui Yu, Ya Zhang and Chenglin Liu, "Circular Formation Flight Control for Unmanned Aerial Vehicles With Directed Network and External Disturbance," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 505-516, Mar. 2020. doi: 10.1109/JAS.2019.1911669
shu

Circular Formation Flight Control for Unmanned Aerial Vehicles With Directed Network and External Disturbance

doi: 10.1109/JAS.2019.1911669
Funds:  This work was supported in part by the National Natural Science Foundation of China (61673106), the Natural Science Foundation of Jiangsu Province (BK20171362), and the Fundamental Research Funds for the Central Universities (2242019K40024)
More Information
    Abstract
  • This paper proposes a new distributed formation flight protocol for unmanned aerial vehicles (UAVs) to perform coordinated circular tracking around a set of circles on a target sphere. Different from the previous results limited in bidirectional networks and disturbance-free motions, this paper handles the circular formation flight control problem with both directed network and spatiotemporal disturbance with the knowledge of its upper bound. Distinguishing from the design of a common Lyapunov function for bidirectional cases, we separately design the control for the circular tracking subsystem and the formation keeping subsystem with the circular tracking error as input. Then the whole control system is regarded as a cascade connection of these two subsystems, which is proved to be stable by input-to-state stability (ISS) theory. For the purpose of encountering the external disturbance, the backstepping technology is introduced to design the control inputs of each UAV pointing to North and Down along the special sphere (say, the circular tracking control algorithm) with the help of the switching function. Meanwhile, the distributed linear consensus protocol integrated with anther switching anti-interference item is developed to construct the control input of each UAV pointing to east along the special sphere (say, the formation keeping control law) for formation keeping. The validity of the proposed control law is proved both in the rigorous theory and through numerical simulations.

     

    • FullText(HTML)
  • loading
    • References(50)
  • [1]
    D. C. Folta, L. K. Newman, and T. Gardner, “Foundations of formation flying for mission to planet Earth and new millenium,” in Proc. AIAA/AAS Astrodynamics Conf., AIAA, Reston, VA, USA, pp. 656−666, 1996.
    [2]
    D. P. Scharf, F. Y. Hadaegh, and S. R. Ploen, “A survey of spacecraft formation flying guidance and control (Part II): control,” in Proc. American Control Conf., Boston, MA, USA, pp. 2976−2985, 2004.
    [3]
    NASA. Lunar Precursor Robotic Program [Online], available: http://www.nasa.gov/exploration/acd/lunar.html, March 1, 2018.
    [4]
    NASA. Robotic Mars Exploration [Online], available: http://www.nasa.gov/missionpages/mars/main/index.html, March 1, 2018.
    [5]
    N. E. Leonard, D. A. Paley, F. Lekien, R. Sepulchre, D. M. Frantantoni, and R. E. Davis, “Collective motion, sensor networks, and ocean sampling,” Proc. IEEE, vol. 95, no. 1, pp. 48–74, 2007. doi: 10.1109/JPROC.2006.887295
    [6]
    S. Chris, B. Rich, and A. M. Craig, “Satellite formtion flying design and evolution,” J. Spaceaft and Rockets, vol. 38, no. 2, pp. 270–278, 2001. doi: 10.2514/2.3681
    [7]
    W. Ren and R. W. Beard, “Decentralized scheme for spacecraft formation flying via the virtual structure approach,” J. Guidance Control and Dynamics, vol. 27, no. 1, pp. 73–82, 2004. doi: 10.2514/1.9287
    [8]
    M. C. Vandyke and C. D. Hall, “Decentralized coordinated attitude control within a formation of spacecraft,” J. Guidance Control and Dynamics, vol. 29, no. 5, pp. 1101–1109, 2006. doi: 10.2514/1.17857
    [9]
    Z. Chen, H.-T. Zhang, M.-C. Fan, D. Wang, and D. Li, “Algorithms and experiments on flocking of multi-agents in a bounded space,” IEEE Trans. Control Systems Technology, vol. 22, no. 4, pp. 1544–1549, 2014. doi: 10.1109/TCST.2013.2279166
    [10]
    J. A. Marshall, M. E. Broucke, and B. A. Francis, “Formations of vehicles in cyclic pursuit,” IEEE Trans. Automatic Control, vol. 49, no. 11, pp. 1963–1974, 2004. doi: 10.1109/TAC.2004.837589
    [11]
    R. Sepulchre, D. A. Paley, and N. E. Leonard, “Stabilization of planar collective motion: with limited communication,” IEEE Trans. Automatic Control, vol. 53, no. 3, pp. 706–719, 2008. doi: 10.1109/TAC.2008.919857
    [12]
    F. Zhang and N. E. Leonard, “Coordinated patterns of unit speed particles on a closed curve,” Systems and Control Letters, vol. 56, no. 6, pp. 397–407, 2007. doi: 10.1016/j.sysconle.2006.10.027
    [13]
    Y.-Y. Chen and Y.-P. Tian, “A curve extension design for coordinated path following control of unicycles along given convex loops,” Int. J. Control, vol. 84, no. 10, pp. 1729–1745, 2011. doi: 10.1080/00207179.2011.625045
    [14]
    Y.-Y. Chen and Y.-P. Tian, “Formation tracking and attitude synchronization control of underactuated ships along closed orbits,” Int. J. Robust and Nonlinear Control, vol. 25, no. 16, pp. 2023–2044, 2015.
    [15]
    R. H. Zheng, Z. Y. Lin, M. Y. Fu, and D. Sun, “Distributed control for uniform circumnavigation of ring-coupled unicycles,” Automatica, vol. 53, pp. 23–29, 2015. doi: 10.1016/j.automatica.2014.11.012
    [16]
    H.-T. Zhang, Z. Chen, and M.-C. Fan, “Collaborative control of multi-vehicle systems in diverse motion patterns,” IEEE Trans. Control Systems Technology, vol. 24, no. 4, pp. 1488–1494, 2016. doi: 10.1109/TCST.2015.2487864
    [17]
    J. Ghommam and F. Mnif, “Coordinated path-following control for a group of underactuated surface vessels,” IEEE Trans. Industrial Electronics, vol. 56, no. 10, pp. 3951–3963, 2009. doi: 10.1109/TIE.2009.2028362
    [18]
    K. D. Do and J. Pan, “Nonlinear formation control of unicycle-type mobile robots,” Robotics and Autonomous Systems, vol. 55, no. 3, pp. 191–204, 2007. doi: 10.1016/j.robot.2006.09.001
    [19]
    X. W. Dong and G. Q. Hu, “Time-varying formation tracking for linear multiagent systems with multiple leaders,” IEEE Trans. Autom. Control, vol. 62, no. 7, pp. 3658–3664, 2017. doi: 10.1109/TAC.2017.2673411
    [20]
    D. A. Paley, “Stabilization of collective motion on a sphere,” Automaica, vol. 45, no. 1, pp. 212–216, 2009. doi: 10.1016/j.automatica.2008.06.012
    [21]
    J. D. Zhu, “Synchronization of Kuramoto model in a high-dimensional linear space,” Physics Letters A, vol. 377, no. 41, pp. 2939–2943, 2013. doi: 10.1016/j.physleta.2013.09.010
    [22]
    W. J. Song, J. Markdahl, S. L. Zhang, X. M. Hu, and Y. G. Hong, “Intrinsic reduced attitude formation with ring inter-agent graph,” Automatica, vol. 85, pp. 193–201, 2017. doi: 10.1016/j.automatica.2017.07.015
    [23]
    S. L. Zhang, W. J. Song, F. H. He, Y. G. Hong, and X. M. Hu, “Intrinsic tetrahedron formation of reduced attitude,” Automatica, vol. 87, pp. 375–382, 2018. doi: 10.1016/j.automatica.2017.10.023
    [24]
    P. K. C. Wang and F. Y. Hadaegh, “Coordination and Control of Multiple Microspacecraft Moving in Formation,” J. Astronautical Sciences, vol. 44, no. 3, pp. 315–355, 1996.
    [25]
    V. Kapila, A. G. Sparks, J. M. Buffington, and Q. G. Yan, “Spacecraft formation flying: dynamics and control,” J. Guidance,Control,and Dynamics, vol. 23, no. 3, pp. 561–563, 2000. doi: 10.1109/ACC.1999.786328
    [26]
    W. Kang, A. Sparks, and S. Banda, “Coordinated control of multisatellite systems,” J. Guidance,Control,and Dynamics, vol. 24, no. 2, pp. 360–368, 2001. doi: 10.2514/2.4720
    [27]
    W. Ren, “Formation keeping and attitude alignment for multiple spacecraft through local interactions,” J. Guidance,Control,and Dynamics, vol. 30, no. 2, pp. 633–638, 2007. doi: 10.2514/1.25629
    [28]
    T. H. Kim and T. Sugie, “Cooperative control for target-capturing task based on a cyclic pursuit strategy,” Automatica, vol. 43, no. 8, pp. 1426–1431, 2007. doi: 10.1016/j.automatica.2007.01.018
    [29]
    T. H. Kim, S. Hara, and Y. Hori, “Cooperative control of multi-agent dynamical systems in target-enclosing operations using cyclic pursuit strategy,” Int. J. Control, vol. 83, no. 10, pp. 2040–2052, 2010. doi: 10.1080/00207179.2010.504784
    [30]
    S. L. Zhang, F. H. He, Y. Yao, and X. M. Hu, “Spherical formation of regular tetrahedra,” in Proc. 36th Chinese Control Conf., Dalian, China, pp. 1317−1322, 2017.
    [31]
    Z. H. Peng, D. Wang, Z. Y. Chen, X. J Hu, and W. Y. Lan, “Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics,” IEEE Trans. Control Systems Technology, vol. 21, no. 2, pp. 513–520, 2013. doi: 10.1109/TCST.2011.2181513
    [32]
    R. Kristiansen and P. J. Nicklasson, “Spacecraft formation flying: a review and new results on state feedback control,” Acta Astronautica, vol. 65, no. 11−12, pp. 1537–1552, 2009. doi: 10.1016/j.actaastro.2009.04.014
    [33]
    R. Mellish, S. Napora, and D. A. Paley, “Backstepping control design for motion coordination of self-propelled vehicles in a flowfield,” Int. J. Robust and Nonlinear Control, vol. 21, no. 12, pp. 1452–1466, 2011. doi: 10.1002/rnc.1702
    [34]
    Y.-Y. Chen and Y.-P. Tian, “Coordinated path following control of multiunicycle formation motion around closed curves in a time-invariant flow,” Nonlinear Dynamics, vol. 81, no. 1, pp. 1005–1016, 2015.
    [35]
    T. Summers, M. Akella, and M. Mears, “Coordinated standoff tracking of moving targets: control laws and information architectures,” J. Guidance,Control,and Dynamics, vol. 32, no. 1, pp. 56–69, 2009. doi: 10.2514/1.37212
    [36]
    C. Peterson and D. Paley, “Multi-vehicle coordination in an estimated timevarying flowfield,” J. Guidance,Control,and Dynamics, vol. 34, no. 1, pp. 177–191, 2011. doi: 10.2514/1.50036
    [37]
    C. Peterson and D. Paley, “Distributed estimation for motion coordination in an unknown spatially varying flowfield,” J. Guidance,Control,and Dynamics, vol. 36, no. 3, pp. 894–898, 2013. doi: 10.2514/1.59453
    [38]
    Y.-Y. Chen, Y. Zhang, and Z.-Z. Wang, “An adaptive backstepping design for formation tracking motion in an unknown Eulerian specification flowfield,” J. Franklin Institute, vol. 354, no. 14, pp. 6217–6233, 2017. doi: 10.1016/j.jfranklin.2017.07.020
    [39]
    Y.-Y. Chen, Z.-Z. Wang, Y. Zhang, C. L. Liu, and Q. Wang, “A geometric extension design for spherical formation tracking control of second-order agents in unknown spatiotemporal flowfields,” Nonlinear Dynamics, vol. 88, no. 2, pp. 1173–1186, 2017. doi: 10.1007/s11071-016-3303-2
    [40]
    Y.-Y. Chen, Y. Zhang, C. L. Liu, and Q. Wang, “Formation circumnavigation for unmanned aerial vehicles using relative measurements with an uncertian dynamic target,” Nonlinear Dynamics, pp. 1–17, 2019. doi: 10.1007/s11071-019-05126-y
    [41]
    Y.-Y. Chen, X. Ai, and Y. Zhang, “Spherical formation tracking control for second-order agents with unknown general flowfields and strongly connected topologies,” Int. J. Robust and Nonlinear Control, pp. 1–22, 2019. doi: 10.1002/rnc.4576
    [42]
    S. S. Vaddi, S. R. Vadali, and K. T. Alfriend, “Formation flying: accommodating nonlinearity and eccentricity perturbations,” J. Guidance,Control,and Dynamics, vol. 26, no. 2, pp. 214–223, 2003. doi: 10.2514/2.5054
    [43]
    G. Godard, K. D. Kumar, and A. M. Zou, “Robust stationkeeping and reconfiguration of underactuated spacecraft formations,” Acta Astronautica, vol. 105, no. 2, pp. 495–510, 2014. doi: 10.1016/j.actaastro.2014.10.008
    [44]
    B.-Q. Zhang and S.-M. Song, “Decentralized coordinated control for multiple spacecraft formation maneuvers,” Acta Astronautica, vol. 74, no. 74, pp. 79–97, 2012.
    [45]
    D. C. Ran, X. Q. Chen, and A. K. Misra, “Finite time coordinated formation control for spacecraft formation flying under directed communication topology,” Acta Astronautica, vol. 136, pp. 125–136, 2017. doi: 10.1016/j.actaastro.2017.01.010
    [46]
    Z. K. Li, G. H. Wen, Z. S. Duan, and W. Ren, “Designing fully distributed consensus protocols for linear multi-agent systems with directed graphs,” IEEE Trans. Autom. Control, vol. 60, no. 4, pp. 1152–1157, 2015. doi: 10.1109/TAC.2014.2350391
    [47]
    M. P. Carmo, Differential Geometry of Surfaces, Englewood Cliffs, 1976.
    [48]
    W. Ren and R. Beard, “Consensus seeking in multiagent systems under dynamically changing interaction topologies,” IEEE Trans. Autom. Control, vol. 50, no. 5, pp. 655–661, 2005. doi: 10.1109/TAC.2005.846556
    [49]
    R. Olfati-Saber, “Flocking for multi-agent dynamic systems: algorithms and theory,” IEEE Trans. Autom. Control, vol. 52, pp. 401–420, 2006.
    [50]
    H. K. Khalil, Nonlinear Systems (2nd ed.), Upper Saddle River, NJ: Prentice-Hall, 1996.
    • Related Articles
    • Supplements(0)

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(9)

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (1578) PDF downloads(117) Cited by()

    Highlights

    • This paper is to develop the circular formation flight control for bidirectional connected UAVs in a directed network with external disturbances.
    • A new robust circular formation flight algorithm to confront the spatiotemporal disturbance with knowledge of its upper bound.
    • A fully distributed circular formation flight control is given without any global information of network.

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return