A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller
The purpose of this study is to offer an adaptive hybrid controller for the formation control of multiple unmanned aerial vehicles (UAVs) leader-follower configurations with communication delay. Although numerous studies about the control of the formation exist, very few incorporate the delay in the...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
|
| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/9231636 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832547013486444544 |
|---|---|
| author | Zain Anwar Ali Amber Israr Eman H. Alkhammash Myriam Hadjouni |
| author_facet | Zain Anwar Ali Amber Israr Eman H. Alkhammash Myriam Hadjouni |
| author_sort | Zain Anwar Ali |
| collection | DOAJ |
| description | The purpose of this study is to offer an adaptive hybrid controller for the formation control of multiple unmanned aerial vehicles (UAVs) leader-follower configurations with communication delay. Although numerous studies about the control of the formation exist, very few incorporate the delay in their model and are adaptive as well. The motivation behind this article is to bridge that gap. The strategy consists of an adaptive fuzzy logic controller and a Proportional, Integral, and Derivative (PID) controller where the logic controller fines/tunes the PID controller gains. The controller also consists of an integrator that raises the order of the system which helps reduce the noise and steady-state errors. The simulations confirm that the proposed technique is robust and satisfies mission requirements. Moreover, the flying formations of the swarm were created by a B-spline curve based on a simple waypoint. The main contribution of this study is to present a model where the formation remains stable during the whole flight, errors are within the optimal range, and the time delays are manageable. |
| format | Article |
| id | doaj-art-6ae5fdf1a8fa4b8f8106867f9b7f37a2 |
| institution | Kabale University |
| issn | 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-6ae5fdf1a8fa4b8f8106867f9b7f37a22025-02-03T06:46:18ZengWileyComplexity1099-05262021-01-01202110.1155/2021/9231636A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid ControllerZain Anwar Ali0Amber Israr1Eman H. Alkhammash2Myriam Hadjouni3Electronic Engineering DepartmentElectronic Engineering DepartmentDepartment of Computer ScienceComputer Sciences DepartmentThe purpose of this study is to offer an adaptive hybrid controller for the formation control of multiple unmanned aerial vehicles (UAVs) leader-follower configurations with communication delay. Although numerous studies about the control of the formation exist, very few incorporate the delay in their model and are adaptive as well. The motivation behind this article is to bridge that gap. The strategy consists of an adaptive fuzzy logic controller and a Proportional, Integral, and Derivative (PID) controller where the logic controller fines/tunes the PID controller gains. The controller also consists of an integrator that raises the order of the system which helps reduce the noise and steady-state errors. The simulations confirm that the proposed technique is robust and satisfies mission requirements. Moreover, the flying formations of the swarm were created by a B-spline curve based on a simple waypoint. The main contribution of this study is to present a model where the formation remains stable during the whole flight, errors are within the optimal range, and the time delays are manageable.http://dx.doi.org/10.1155/2021/9231636 |
| spellingShingle | Zain Anwar Ali Amber Israr Eman H. Alkhammash Myriam Hadjouni A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller Complexity |
| title | A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller |
| title_full | A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller |
| title_fullStr | A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller |
| title_full_unstemmed | A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller |
| title_short | A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller |
| title_sort | leader follower formation control of multi uavs via an adaptive hybrid controller |
| url | http://dx.doi.org/10.1155/2021/9231636 |
| work_keys_str_mv | AT zainanwarali aleaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT amberisrar aleaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT emanhalkhammash aleaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT myriamhadjouni aleaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT zainanwarali leaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT amberisrar leaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT emanhalkhammash leaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT myriamhadjouni leaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller |