Details

Flight Formation Control

1. Aufl.

von: Josep M. Guerrero, Rogelio Lozano
144,99 €
Verlag:	Wiley
Format:	PDF
Veröffentl.:	17.12.2012
ISBN/EAN:	9781118563250
Sprache:	englisch
Anzahl Seiten:	328

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Beschreibungen

Titelbeschreibung

In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.

Inhaltsverzeichnis

Chapter 1. Introduction 1 J.A. GUERRERO 1.1. Motivation 1 1.2. Historical background 4 1.3. Flight control 9 1.4. Flight formation control 11 1.5. Outline of the book 13 1.6. Bibliography 15 Chapter 2. Theoretical Preliminaries 19 J.A. GUERRERO 2.1. Passivity 19 2.2. Graph theory 20 2.3. Robustness problems 21 2.4. Bibliography 25 Chapter 3. Multiagent Coordination Strategies 27 J.A. GUERRERO, R. LOZANO, M.W. SPONG, N. CHOPRA 3.1. Introduction 28 3.2. Controllability and observability of interconnections 28 3.3. Formation leader tracking 37 3.4. Time-varying trajectory tracking 40 3.5. Linear high-order multiagent consensus 44 3.6. Conclusion 49 3.7. Bibliography 50 Chapter 4. Robust Control Design of Multiagent Systems with Parametric Uncertainty 51 J.A. GUERRERO, G. ROMERO 4.1. Introduction 52 4.2. Robust control design 54 4.3. Robust stability analysis 56 4.4. Robust stability of time-delay systems 61 4.5. Application to multiagent systems 62 4.6. Conclusions 73 4.7. Bibliography 73 Chapter 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs 75 Y.-C. LIU, N. CHOPRA 5.1. Summary 75 5.2. Introduction 75 5.3. Problem formulation 77 5.4. Adaptive controlled synchronization on strongly connected graphs 79 5.5. Robust controlled synchronization on strongly connected graph 83 5.6. Numerical examples 87 5.7. Conclusions 93 5.8. Appendix 94 5.9. Bibliography 95 Chapter 6. Modeling and Control of Mini UAV 99 G. FLORES COLUNGA, J.A. GUERRERO, J. ESCAREÑO, R. LOZANO 6.1. Introduction 99 6.2. General model 101 6.3. Control of a mini tailsitter 103 6.4. Quad-tilting rotor convertible MAV 117 6.5. Concluding remarks 131 6.6. Bibliography 132 Chapter 7. Flight Formation Control Strategies for Mini UAVs 135 J.A. GUERRERO 7.1. Introduction 135 7.2. Formation geometry 137 7.3. Communication network 138 7.4. Dynamic model 139 7.5. Formation flying control based on coordination 142 7.6. Formation flying control based on nested saturations 148 7.7. Trajectory-tracking control 153 7.8. Simulation results 158 7.9. Conclusions 162 7.10. Bibliography 162 Chapter 8. Formation Based on Potential Functions 165 L. GARCÍA, A. DZUL 8.1. Introduction 165 8.2. Dynamical model 166 8.3. Formation control 167 8.4. Position control 170 8.5. Simulation results 183 8.6. Conclusions 189 8.7. Bibliography 189 Chapter 9. Quadrotor Vision-Based Control 191 J.E. GOMEZ-BALDERAS, J.A. GUERRERO, S. SALAZAR, R. LOZANO, P. CASTILLO 9.1. Introduction 191 9.2. Quadrotor dynamic model and control 194 9.3. Computer vision preliminaries 197 9.4. Tracking of a visual target 201 9.5. Tracking of a visual line 209 9.6. Embedded architecture 214 9.7. Experimental results 214 9.8. Conclusions 221 9.9. Bibliography 221 Chapter 10. Toward Vision-Based Coordination of Quadrotor Platoons 225 L.R. GARCÍA CARRILLO, J.A. GUERRERO, R. LOZANO 10.1. Introduction 225 10.2. Problem statement 227 10.3. Dynamic model and control of a quadrotor 228 10.4. Vision-based position estimation 229 10.5. Coordination position control of two quadrotors 235 10.6. Architecture of the experimental platforms 237 10.7. Experimental results 240 10.8. Conclusions and future work 242 10.9. Bibliography 243 Chapter 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields 247 J.A. GUERRERO, Y. BESTAOUI, R. LOZANO 11.1. Introduction 247 11.2. Preliminaries 250 11.3. Path planning 251 11.4. Quadrotor formation control scheme 258 11.5. Quadrotor trajectory-tracking control 258 11.6. Simulation results 259 11.7. Conclusions and future work 264 11.8. Bibliography 264 Chapter 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control 267 J.A. GUERRERO, Y. CHALLAL, P. CASTILLO 12.1. Introduction 267 12.2. Multiquadrotor consensus 269 12.3. Multiagent consensus over wireless networks 272 12.4. Quadrotor consensus over wireless networks 275 12.5. Simulation results 278 12.6. Conclusions and future work 282 12.7. Bibliography 282 Chapter 13. MAC Protocol for Wireless Communications 285 A. MENDEZ, M. PANDURO, O. ELIZARRARAS, D. COVARRUBIAS 13.1. Introduction 285 13.2. Protocols of medium access control 287 13.3. Proposed MAC protocol 296 13.4. Experimental setup and results 299 13.5. Conclusions 300 13.6. Acknowledgments 301 13.7. Bibliography 301 Chapter 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance 305 A. REYNA, M.A. PANDURO, A. MENDEZ 14.1. Introduction 305 14.2. Design of planar antenna arrays 306 14.3. Design of concentric ring arrays 314 14.4. Discussions and open problems 319 14.5. Conclusions 320 14.6. Acknowledgments 320 14.7. Bibliography 320 List of Authors 323 Index 325

Rezension

“Overall this book delivers necessary backgrounds, basic and advanced nonlinear control algorithms and the associated challenges such as visual navigation and communication for those who are interested in studying and developing UAV formation flight strategies with guaranteed stability and performance.” (The Aeronautical Journal, 3 February 2015)

Autorenportrait

J.A. Guerrero has a Postdoctoral Position, Heudiasyc CNRS UMR 6599, at Universite de Technologie de Compiegne, Paris, France. R. Lozano is CNRS Research Director Heudiasyc CNRS UMR 6599 at Universite de Technologie de Compiegne, Compiegne, France and at LAFMIA UMI 3175 CINVESTAV, Mexico City, Mexico.