Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader

Imil Hamda Imran; Allahyar Montazeri

doi:10.1016/j.ifacol.2022.10.111

Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader

Imil Hamda Imran^*
, Allahyar Montazeri^*

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

3 Scopus citations

Abstract

This paper studies leader-following synchronization control of a group of multiple quadrotor unmanned aerial systems (UASs). A robust distributed scheme is developed to maintain the attitude motions of UASs with an active virtual leader. Complicated settings are considered in the design, where the topology is in a directed graph, and only one or some agents are connected to the leader. UASs can have different dynamic parameters. Also, some time-varying disturbances are added to the closed-loop system. A control protocol containing a robust term is proposed to each UAS to achieve asymptotic consensus. A rigorous mathematical proof and numerical example are presented to demonstrate the effectiveness of our scheme.

Original language	English
Pages (from-to)	2659-2664
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	55
Issue number	10
DOIs	https://doi.org/10.1016/j.ifacol.2022.10.111
State	Published - 2022
Externally published	Yes
Event	10th IFAC Conference on Manufacturing Modelling, Management and Control, MIM 2022 - Nantes, France Duration: 22 Jun 2022 → 24 Jun 2022

Bibliographical note

Publisher Copyright:
Copyright © 2022 The Authors. This is an open access article under the CC BY-NC-ND license.

Keywords

Quadrotor
consensus
leader-following
robust distributed scheme
synchronization control
time-varying disturbance
unmanned aerial systems (UASs)

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1016/j.ifacol.2022.10.111

Cite this

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title = "Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader",

abstract = "This paper studies leader-following synchronization control of a group of multiple quadrotor unmanned aerial systems (UASs). A robust distributed scheme is developed to maintain the attitude motions of UASs with an active virtual leader. Complicated settings are considered in the design, where the topology is in a directed graph, and only one or some agents are connected to the leader. UASs can have different dynamic parameters. Also, some time-varying disturbances are added to the closed-loop system. A control protocol containing a robust term is proposed to each UAS to achieve asymptotic consensus. A rigorous mathematical proof and numerical example are presented to demonstrate the effectiveness of our scheme.",

keywords = "Quadrotor, consensus, leader-following, robust distributed scheme, synchronization control, time-varying disturbance, unmanned aerial systems (UASs)",

author = "Imran, \{Imil Hamda\} and Allahyar Montazeri",

note = "Publisher Copyright: Copyright {\textcopyright} 2022 The Authors. This is an open access article under the CC BY-NC-ND license.; 10th IFAC Conference on Manufacturing Modelling, Management and Control, MIM 2022 ; Conference date: 22-06-2022 Through 24-06-2022",

year = "2022",

doi = "10.1016/j.ifacol.2022.10.111",

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AU - Montazeri, Allahyar

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AB - This paper studies leader-following synchronization control of a group of multiple quadrotor unmanned aerial systems (UASs). A robust distributed scheme is developed to maintain the attitude motions of UASs with an active virtual leader. Complicated settings are considered in the design, where the topology is in a directed graph, and only one or some agents are connected to the leader. UASs can have different dynamic parameters. Also, some time-varying disturbances are added to the closed-loop system. A control protocol containing a robust term is proposed to each UAS to achieve asymptotic consensus. A rigorous mathematical proof and numerical example are presented to demonstrate the effectiveness of our scheme.

KW - Quadrotor

KW - consensus

KW - leader-following

KW - robust distributed scheme

KW - synchronization control

KW - time-varying disturbance

KW - unmanned aerial systems (UASs)

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DO - 10.1016/j.ifacol.2022.10.111

M3 - Conference article

AN - SCOPUS:85144520651

SN - 2405-8971

VL - 55

SP - 2659

EP - 2664

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 10

T2 - 10th IFAC Conference on Manufacturing Modelling, Management and Control, MIM 2022

Y2 - 22 June 2022 through 24 June 2022

ER -

Distributed Robust Synchronization Control of Multiple Heterogeneous Quadcopters with An Active Virtual Leader

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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