${\cal H}_{\infty}$ Based Motion Synchronization in Formation Flight With Delayed Communications

This paper proposes an H∞ control strategy for swarm formation of multiple-unmanned aircraft systems based on the virtual structure considering wind effects and measurement noise. The proposed strategy provides a rigid body formation of unmanned aircraft with motion synchronization in a decentralized manner. Unlike the current strategies in the literature, which consider motion synchronization in specific topologies, this approach proposes a general topology for coupling agents and guarantees the stability of the multiagent system in the presence of communication delays. Simulation results for a multiple-unmanned aircraft system confirm the accuracy of the proposed control strategy for formation flight.

[1]  Farzaneh Abdollahi,et al.  Motion synchronization in unmanned aircrafts formation control with communication delays , 2013, Commun. Nonlinear Sci. Numer. Simul..

[2]  G. D. Sweriduk,et al.  Optimal Strategies for Free-Flight Air Traffic Conflict Resolution , 1999 .

[3]  Bruce A. Francis,et al.  Feedback Control Theory , 1992 .

[4]  Charles R. Johnson,et al.  Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.

[5]  Baris Fidan,et al.  Single-View Distance-Estimation-Based Formation Control of Robotic Swarms , 2013, IEEE Transactions on Industrial Electronics.

[6]  D. Cvetkovic,et al.  Spectra of graphs : theory and application , 1995 .

[7]  C. Desoer,et al.  On the generalized Nyquist stability criterion , 1979, 1979 18th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[8]  Alessandro Giua,et al.  Leader-follower formation via complex Laplacian , 2013, Autom..

[9]  Ligang Wu,et al.  Output Feedback Control of Markovian Jump Repeated Scalar Nonlinear Systems , 2014 .

[10]  Jinjun Shan,et al.  Close-Formation Flight Control with Motion Synchronization , 2005 .

[11]  Farzaneh Abdollahi,et al.  A Decentralized Cooperative Control Scheme With Obstacle Avoidance for a Team of Mobile Robots , 2014, IEEE Transactions on Industrial Electronics.

[12]  Hugh H. T. Liu,et al.  Communication Loss Management for Adaptive Nonlinear Synchronization Control of Multiple Spacecraft in Formation Flying , 2010 .

[13]  Farzaneh Abdollahi,et al.  Synchronized cross coupled sliding mode controllers for cooperative UAVs with communication delays , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[14]  O. Yakimenko.  Direct Method for Rapid Prototyping of Near-Optimal Aircraft Trajectories , 2000 .

[15]  E. Yaz.  Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[16]  Ligang Wu,et al.  Sliding mode control with bounded L2 gain performance of Markovian jump singular time-delay systems , 2012, Autom..

[17]  Dongbing Gu,et al.  Cooperative Target Tracking Control of Multiple Robots , 2012, IEEE Transactions on Industrial Electronics.

[18]  Frank L. Lewis,et al.  Distributed Adaptive Tracking Control for Synchronization of Unknown Networked Lagrangian Systems , 2011, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[19]  Leang S. Shieh,et al.  Stability of the second-order matrix polynomial , 1987 .

[20]  A. Schaft.  L/sub 2/-gain analysis of nonlinear systems and nonlinear state-feedback H/sub infinity / control , 1992 .

[21]  Beibei Ren,et al.  Synchronized altitude tracking control of multiple unmanned helicopters , 2010, Proceedings of the 2010 American Control Conference.

[22]  H.-T. Liu,et al.  Synchronised trajectory-tracking control of multiple 3-DOF experimental helicopters , 2005 .

[23]  Krzysztof Kozlowski,et al.  Universal Multiaxis Control System for Electric Drives , 2013, IEEE Transactions on Industrial Electronics.

[24]  K. D. Do.  Bounded Assignment Formation Control of Second-Order Dynamic Agents , 2014, IEEE/ASME Transactions on Mechatronics.

[25]  Abdul Rashid Husain,et al.  Formation control of multiple mobile robots utilising synchronisation approach , 2013 .

[26]  Jinjun Shan,et al.  Adaptive synchronized attitude angular velocity tracking control of multi-UAVs , 2005, Proceedings of the 2005, American Control Conference, 2005..

[27]  Masayuki Fujita,et al.  Visual feedback attitude synchronization in leader-follower type visibility structures , 2010, 49th IEEE Conference on Decision and Control (CDC).

[28]  T. Montor,et al.  Adaptive synchronization control of a robotic manipulator operating in an intelligent workcell , 1990 .