Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions
In this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles. Specifically, the distance-based formation and tracking control problem are addressed in the framework of leader-follower architecture. In this scheme, the leader is assigned th...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/2069631 |
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| author | Jawhar Ghommam Luis F. Luque-Vega Maarouf Saad |
| author_facet | Jawhar Ghommam Luis F. Luque-Vega Maarouf Saad |
| author_sort | Jawhar Ghommam |
| collection | DOAJ |
| description | In this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles. Specifically, the distance-based formation and tracking control problem are addressed in the framework of leader-follower architecture. In this scheme, the leader is assigned the task of intercepting a target whose velocity is unknown, while the follower quadrotors are arranged to set up a predefined rigid formation pattern, ensuring simultaneously interagent collision avoidance and relative localization. The adopted strategy for the control design consists in decoupling the quadrotor dynamics in a cascaded structure to handle its underactuated property. Furthermore, by imposing constraints on the orientation angles, the follower will never be overturned. Rigorous stability analysis is presented to prove the stability of the entire closed-loop system. Numerical simulation results are presented to validate the proposed control strategy. |
| format | Article |
| id | doaj-art-1b8f7a468c954a9cac7b2c5b48a5a459 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-1b8f7a468c954a9cac7b2c5b48a5a4592025-02-03T01:27:56ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742020-01-01202010.1155/2020/20696312069631Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier FunctionsJawhar Ghommam0Luis F. Luque-Vega1Maarouf Saad2Department of Electrical and Computer Engineering, College of Engineering, Sultan Qaboos University, OmanCentro de Investigación, Innovación y Desarrollo Tecnológico CIIDETEC-UVM, Universidad del Valle de México, Tlaquepaque, Jalisco 45601, MexicoDepartment of Electrical Engineering, École de Technologie Superieure, Montréal, QC, CanadaIn this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles. Specifically, the distance-based formation and tracking control problem are addressed in the framework of leader-follower architecture. In this scheme, the leader is assigned the task of intercepting a target whose velocity is unknown, while the follower quadrotors are arranged to set up a predefined rigid formation pattern, ensuring simultaneously interagent collision avoidance and relative localization. The adopted strategy for the control design consists in decoupling the quadrotor dynamics in a cascaded structure to handle its underactuated property. Furthermore, by imposing constraints on the orientation angles, the follower will never be overturned. Rigorous stability analysis is presented to prove the stability of the entire closed-loop system. Numerical simulation results are presented to validate the proposed control strategy.http://dx.doi.org/10.1155/2020/2069631 |
| spellingShingle | Jawhar Ghommam Luis F. Luque-Vega Maarouf Saad Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions International Journal of Aerospace Engineering |
| title | Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions |
| title_full | Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions |
| title_fullStr | Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions |
| title_full_unstemmed | Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions |
| title_short | Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions |
| title_sort | distance based formation control for quadrotors with collision avoidance via lyapunov barrier functions |
| url | http://dx.doi.org/10.1155/2020/2069631 |
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