Formation control of VTOL UAV vehicles under switching-directed interaction topologies with disturbance rejection |
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| Authors: | Meisam Kabiri Mohammad B Menhaj |
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| Affiliation: | 1. Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran;2. The Center of Excellence on Control and Robotics, Department of Electrical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran |
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| Abstract: | This paper addresses the adaptive formation control of a group of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV) with switching-directed interaction topologies. In addition, to tackle the adverse effect of disturbances, a couple of smooth bounded estimators are involved in the procedure design. Exploiting an extraction algorithm, we take advantage of the fully actuated rotational dynamics, to control the translational dynamics of each vehicle. We propose a distributed control scheme such that all vehicles track a desired reference velocity signal while keeping a desired prespecified formation. In this framework, the underlying topology of the agents may switch among several directed graphs, each having a spanning tree. The stability of the overall closed-loop system is proved through Lyapunov function. Finally, simulation results are given to better highlight the effectiveness of the proposed control scheme. |
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| Keywords: | Formation control disturbance rejection VTOL aircraft time-varying topologies underactuated systems |
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