Event-triggered robust formation control of multi quadrotors for transmission line inspection
This paper proposes an event-triggered formation control scheme to manage the operation of multiple quadrotors in performing the inspection of a power transmission line. In particular, the problem of controlling such multi quadrotors to track the tower and/or cables of the transmission lines is cons...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Indonesian Institute of Sciences
2024-12-01
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| Series: | Journal of Mechatronics, Electrical Power, and Vehicular Technology |
| Subjects: | |
| Online Access: | https://mev.brin.go.id/mev/article/view/1106 |
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| Summary: | This paper proposes an event-triggered formation control scheme to manage the operation of multiple quadrotors in performing the inspection of a power transmission line. In particular, the problem of controlling such multi quadrotors to track the tower and/or cables of the transmission lines is considered. A multi-agent sliding mode control method is used for this purpose and is equipped with both a radial basis function neural network as an estimator of environmental wind disturbances, as well as an event-triggered scheduling scheme for the control execution framework. The proposed multi quadrotors control method is designed by considering the transmission tower/cable as the reference sliding surface. Simulation results are presented to illustrate the effectiveness of the proposed multi quadrotors control scheme when implemented in a case scenario of tracking the commonly-encountered shape of transmission cables. Simulation results are presented and show how the implementation of a position error-based event-triggered control enables all UAVs to track the desired position and maintain a pre-determined formation. In particular, all UAVs can minimize the tracking error within 0.05 m after reaching the desired positions since the control signal is updated if the error reaches such an error bound. |
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| ISSN: | 2087-3379 2088-6985 |