Distributed Three‐Dimensional Formation Containment Control of Multiple Unmanned Aerial Vehicle Systems

This paper concentrates the distributed formation containment problems for multiple unmanned aerial vehicle (UAV) systems under both fixed directed and switching directed topologies. The objective is to introduce the formation control into the containment control research, where master UAVs should exchange information with each other to achieve and maintain a desired formation. Then, two different control protocols are proposed for the master UAVs and slave UAVs, respectively. Utilizing the algebraic graph theory and stability theory, some sufficient conditions are derived to guarantee the master UAVs complete a prespecified formation, while the states of the slave UAVs converge to a convex hull formed by those of the master UAVs. Finally, some numerical simulations are provided to verify the effectiveness of the theoretical results.

[1]  Xinghuo Yu,et al.  Pulse-Modulated Intermittent Control in Consensus of Multiagent Systems , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[2]  Jiang-Wen Xiao,et al.  Three-dimensional containment control for multiple unmanned aerial vehicles , 2016, J. Frankl. Inst..

[3]  Guanghui Wen,et al.  Containment of Higher-Order Multi-Leader Multi-Agent Systems: A Dynamic Output Approach , 2016, IEEE Transactions on Automatic Control.

[4]  Jinde Cao,et al.  Distributed Containment Control for Nonlinear Multi-Agent Systems with Time-Delayed Protocol , 2016 .

[5]  X. Dong,et al.  Formation‐containment analysis and design for high‐order linear time‐invariant swarm systems , 2015 .

[6]  Zhi-Hong Guan,et al.  Multi‐Tracking of First Order Multi‐Agent Networks Via Self‐Triggered Control , 2015 .

[7]  Gang Feng,et al.  Impulsive Multiconsensus of Second-Order Multiagent Networks Using Sampled Position Data , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[8]  Yisheng Zhong,et al.  Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications , 2015, IEEE Transactions on Control Systems Technology.

[9]  Zhi-Hong Guan,et al.  Guaranteed performance consensus in second-order multi-agent systems with hybrid impulsive control , 2014, Autom..

[10]  Liam Paull,et al.  Sensor-Driven Area Coverage for an Autonomous Fixed-Wing Unmanned Aerial Vehicle , 2014, IEEE Transactions on Cybernetics.

[11]  Guoqiang Hu,et al.  Distributed ${\cal H}_{\infty}$ Consensus of Higher Order Multiagent Systems With Switching Topologies , 2014, IEEE Transactions on Circuits and Systems II: Express Briefs.

[12]  Yangquan Chen,et al.  Multiple UAV Formations for Cooperative Source Seeking and Contour Mapping of a Radiative Signal Field , 2014, J. Intell. Robotic Syst..

[13]  Guanghui Wen,et al.  Consensus Tracking of Multi-Agent Systems With Lipschitz-Type Node Dynamics and Switching Topologies , 2014, IEEE Transactions on Circuits and Systems I: Regular Papers.

[14]  Gang Feng,et al.  Containment control of linear multi‐agent systems with multiple leaders of bounded inputs using distributed continuous controllers , 2013, ArXiv.

[15]  Zhi-Hong Guan,et al.  Multiconsensus of second order multiagent systems with directed topologies , 2013 .

[16]  Ming Xin,et al.  Integrated Optimal Formation Control of Multiple Unmanned Aerial Vehicles , 2012, IEEE Transactions on Control Systems Technology.

[17]  João Pedro Hespanha,et al.  Flocking with fixed-wing UAVs for distributed sensing: A stochastic optimal control approach , 2013, 2013 American Control Conference.

[18]  Nikhil Nigam,et al.  Control of Multiple UAVs for Persistent Surveillance: Algorithm and Flight Test Results , 2012, IEEE Transactions on Control Systems Technology.

[19]  Gang Feng,et al.  Consensus of Multi-Agent Networks With Aperiodic Sampled Communication Via Impulsive Algorithms Using Position-Only Measurements , 2012, IEEE Transactions on Automatic Control.

[20]  Yisheng Zhong,et al.  Containment analysis and design for high-order linear time-invariant singular swarm systems with time delays , 2012, Proceedings of the 31st Chinese Control Conference.

[21]  Ziyang Meng,et al.  Distributed Containment Control for Multiple Autonomous Vehicles With Double-Integrator Dynamics: Algorithms and Experiments , 2011, IEEE Transactions on Control Systems Technology.

[22]  Magnus Egerstedt,et al.  Containment in leader-follower networks with switching communication topologies , 2011, Autom..

[23]  Konstantin Kondak,et al.  Journal of Intelligent and Robotic Systems manuscript No. , 2022 .

[24]  Giancarlo Ferrari-Trecate,et al.  Containment Control in Mobile Networks , 2008, IEEE Transactions on Automatic Control.

[25]  Ella M. Atkins,et al.  Distributed multi‐vehicle coordinated control via local information exchange , 2007 .

[26]  Eun-Jung Song,et al.  An Instrumentation System Applied to Formation Flight , 2002, IEEE Transactions on Control Systems Technology.

[27]  Dimos V. Dimarogonas,et al.  A Leader-based Containment Control Strategy for Multiple Unicycles , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[28]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.

[29]  Timothy W. McLain,et al.  Cooperative control of UAV rendezvous , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).