Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach

Shouhei Mori; Toru Namerikawa

doi:10.20965/jrm.2016.p0343

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JRM Vol.28 No.3 pp. 343-350

doi: 10.20965/jrm.2016.p0343

(2016)

Paper:

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Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach

Shouhei Mori and Toru Namerikawa

Keio University
3-14-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8522, Japan

Received:

August 20, 2015

Accepted:

February 3, 2016

Published:

June 20, 2016

Keywords:

UAV, multi-agent, formation, LMI, network

Abstract

The formation control algorithm we propose for a multi-UAV uses LMI conditions. Starting with a linearized model of UAVs such as a quadrotor, we introduce a formation control algorithm based on a consensus algorithm, a leader-follower structure, graph theory and the Lyapunov stability theorem for a liner system. We propose the control algorithm using the Lyapunov theorem and LMI conditions for intermittent communication. We demonstrate the proposed control algorithm’s stability even when network links are disconnected. Numerical simulation and experimental validation show the proposed control’s effectiveness.

Formation control for multi-UAV system

Cite this article as:

S. Mori and T. Namerikawa, “Formation Control Considering Disconnection of Network Links for a Multi-UAV System: An LMI Approach,” J. Robot. Mechatron., Vol.28 No.3, pp. 343-350, 2016.

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References

[1] W. Ren, R. W. Bread, and E. M. Atkins, “A Survey of Consensus Problem in Multi-agent Coordination,” IEEE Proc. of ACC, pp. 1859-1864, 2005.
[2] R. Olfati-Saber, J. A. Fax, and R. M. Murray, “Consensus and cooperation in multi-agent networked systems,” Proc. of the IEEE, Vol.95, No.1, pp. 215-233, 2007.
[3] Y. Kuriki and T. Namerikawa, “Control of Formation Configuration Using Leader-Follower Structure,” J. of System Design and Dynamics, Vol.7, No.3, pp. 254-264, 2013.
[4] R. Olfati-Saber and R. Murray, “Consensus problems in networks of agents with switching topology and time-delays,” IEEE Trans. of A C, Vol.49, No.9, pp. 1520-1533, 2004.
[5] J. Fax and R. Murray, “Information flow and cooperative control of vehicle formations,” IEEE Trans. of A C, Vol.49, No.9, pp. 1465-1476, 2004.
[6] A. Gattami and R. Murray, “A frequency domain condition for stability of interconnected MIMO systems,” Proc. of ACC, pp. 3723-3728, 2004.
[7] C. Yoshioka and T. Namerikawa, “Formation Control of Nonholonomic Multi-vehicle Systems Based on Virtual Structure,” Proc. of the 17th IFAC World Congress 2008, pp. 5149-5154, 2008.
[8] I. Masubuchi, J. Kato, M. Saeki, and A. Ohara, “Gain-Scheduled Controller Design Based on Descriptor Representation of LPV Systems: Application to Flight Vehicle Control,” IEEE Proc. of CDC, pp. 815-820, 2004.
[9] E. Semsar-Kazerooni and K. Khorasani, “Optimal Consensus Seeking in a Network of Multiagent Systems: An LMI Approach,” IEEE trans. Syst., Man, Cybern., B, Cybern., Vol.40, No.2, pp. 540-547, 2010.
[10] S. Sasa, Y. Matsuda, M. Nakadate, and K. Ishikawa, “Ongoing Research on Disaster Monitoring UAV at JAXA’s Aviation Program Group,” Proc. of SICE Annual Conf. 2008, pp. 978-981, 2008.
[11] Y. Kuriki and T. Namerikawa, “Formation Control of UAVs with a Fourth-order Flight Dynamics,” SICE J. of Control, Measurement, and System Integration , Vol.7, No.2, pp. 74-81, 2014.
[12] Y. Kuriki and T. Namerikawa, “Experimental Validation of Cooperative Formation Control with Collision Avoidance for a Multi-UAV System,” Proc. of the 6th Int. Conf. on Automation, Robotics and Applications (ICARA 2015), pp. 531-536, 2015.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] W. Ren, R. W. Bread, and E. M. Atkins, “A Survey of Consensus Problem in Multi-agent Coordination,” IEEE Proc. of ACC, pp. 1859-1864, 2005.

[2] [2] R. Olfati-Saber, J. A. Fax, and R. M. Murray, “Consensus and cooperation in multi-agent networked systems,” Proc. of the IEEE, Vol.95, No.1, pp. 215-233, 2007.

[3] [3] Y. Kuriki and T. Namerikawa, “Control of Formation Configuration Using Leader-Follower Structure,” J. of System Design and Dynamics, Vol.7, No.3, pp. 254-264, 2013.

[4] [4] R. Olfati-Saber and R. Murray, “Consensus problems in networks of agents with switching topology and time-delays,” IEEE Trans. of A C, Vol.49, No.9, pp. 1520-1533, 2004.

[5] [5] J. Fax and R. Murray, “Information flow and cooperative control of vehicle formations,” IEEE Trans. of A C, Vol.49, No.9, pp. 1465-1476, 2004.

[6] [6] A. Gattami and R. Murray, “A frequency domain condition for stability of interconnected MIMO systems,” Proc. of ACC, pp. 3723-3728, 2004.

[7] [7] C. Yoshioka and T. Namerikawa, “Formation Control of Nonholonomic Multi-vehicle Systems Based on Virtual Structure,” Proc. of the 17th IFAC World Congress 2008, pp. 5149-5154, 2008.

[8] [8] I. Masubuchi, J. Kato, M. Saeki, and A. Ohara, “Gain-Scheduled Controller Design Based on Descriptor Representation of LPV Systems: Application to Flight Vehicle Control,” IEEE Proc. of CDC, pp. 815-820, 2004.

[9] [9] E. Semsar-Kazerooni and K. Khorasani, “Optimal Consensus Seeking in a Network of Multiagent Systems: An LMI Approach,” IEEE trans. Syst., Man, Cybern., B, Cybern., Vol.40, No.2, pp. 540-547, 2010.

[10] [10] S. Sasa, Y. Matsuda, M. Nakadate, and K. Ishikawa, “Ongoing Research on Disaster Monitoring UAV at JAXA’s Aviation Program Group,” Proc. of SICE Annual Conf. 2008, pp. 978-981, 2008.

[11] [11] Y. Kuriki and T. Namerikawa, “Formation Control of UAVs with a Fourth-order Flight Dynamics,” SICE J. of Control, Measurement, and System Integration , Vol.7, No.2, pp. 74-81, 2014.

[12] [12] Y. Kuriki and T. Namerikawa, “Experimental Validation of Cooperative Formation Control with Collision Avoidance for a Multi-UAV System,” Proc. of the 6th Int. Conf. on Automation, Robotics and Applications (ICARA 2015), pp. 531-536, 2015.