Takagi-Sugeno system for supervisory formation control of seeker mounted unmanned aerial vehicles

Purpose The purpose of this paper is achieving a leader–follower formation of unmanned aerial vehicles which is a cooperative scenario inspired by formation flying of living organisms such as geese. Designing a control strategy based on only vision measurement (without radio communication) and keeping connectivity in vision are important challenges in the formation flying problem which is the base of formation flying in living organisms. Design/methodology/approach To achieve the mentioned purposes, a feedback linearization technique is used. Moreover, a Takagi-Sugeno-based supervisory control strategy for visibility maintenance combined with an acceleration estimator to compensate the leader maneuvers is proposed. Findings The authors conclude that by using practical seeker sensors, all the mentioned objectives (under the proposed strategy) can be satisfied. Originality/value Keeping formation and visibility maintenance in the presence of the leader maneuver are the main contributions of the paper.

[1]  Vijay Kumar,et al.  Cooperative Visibility Maintenance for Leader–Follower Formations in Obstacle Environments , 2014, IEEE Transactions on Robotics.

[2]  Rubo Zhang,et al.  Formation Control of Multiple Behavior-based robots , 2006, 2006 International Conference on Computational Intelligence and Security.

[3]  Camillo J. Taylor,et al.  A vision-based formation control framework , 2002, IEEE Trans. Robotics Autom..

[4]  Heidar Ali Talebi,et al.  A Stable Nonlinear in Parameter Neural Network Controller for a Class of Saturated Nonlinear Systems , 2014 .

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

[6]  Nathan Michael,et al.  Vision-Based Localization for Leader–Follower Formation Control , 2009, IEEE Transactions on Robotics.

[7]  Smita Sadhu,et al.  Sight Line Rate Estimation in Missile Seeker Using Disturbance Observer-Based Technique , 2011, IEEE Transactions on Control Systems Technology.

[8]  Weidong Zhu,et al.  Coordination error control for accurate positioning in movable robotic drilling , 2015 .

[9]  Peng-Yung Woo,et al.  Fuzzy supervisory sliding-mode and neural-network control for robotic manipulators , 2006, IEEE Transactions on Industrial Electronics.

[10]  Patricio A. Vela,et al.  Vision-Based Range Regulation of a Leader-Follower Formation , 2009, IEEE Transactions on Control Systems Technology.

[11]  Domenico Prattichizzo,et al.  Discussion of paper by , 2003 .

[12]  M. Sami Fadali,et al.  On the Stability and Control of Continuous-Time TSK Fuzzy Systems , 2013, IEEE Transactions on Cybernetics.

[13]  Mohammad Bagher Menhaj,et al.  Model-free fuzzy leader-follower formation control of fixed wing UAVs , 2013, 2013 13th Iranian Conference on Fuzzy Systems (IFSC).

[14]  Sergio Monteiro,et al.  A dynamical systems approach to behavior-based formation control , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[15]  Heidar Ali Talebi,et al.  ${\cal H}_{\infty}$ Based Motion Synchronization in Formation Flight With Delayed Communications , 2014, IEEE Transactions on Industrial Electronics.

[16]  A. Isidori.  Nonlinear Control Systems , 1985 .

[17]  Yang Meng,et al.  Synchronization of discrete-time multi-agent systems under input sets with limited precision , 2016 .

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

[19]  S. P. Kárason,et al.  Adaptive Control in the Presence of Input Constraints , 1993, American Control Conference.

[20]  A. Kawamura,et al.  Chattering reduction of disturbance observer based sliding mode control , 1992, Conference Record of the 1992 IEEE Industry Applications Society Annual Meeting.

[21]  Randal W. Beard,et al.  A decentralized scheme for spacecraft formation flying via the virtual structure approach , 2003, Proceedings of the 2003 American Control Conference, 2003..

[22]  Domenico Prattichizzo,et al.  Visibility maintenance via controlled invariance for leader-follower vehicle formations , 2011, Autom..

[23]  Brian D. O. Anderson,et al.  UAV Formation Control: Theory and Application , 2008, Recent Advances in Learning and Control.

[24]  Jinkun Liu,et al.  Advanced Sliding Mode Control for Mechanical Systems , 2011 .

[25]  G. Spiazzi,et al.  Energy Management Fuzzy Logic Supervisory for Electric Vehicle Power Supplies System , 2008, IEEE Transactions on Power Electronics.

[26]  S. Shankar Sastry,et al.  Vision-based follow-the-leader , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[27]  Nikolaos Papanikolopoulos,et al.  Vision-based leader-follower formations with limited information , 2009, 2009 IEEE International Conference on Robotics and Automation.

[28]  Mohammad Javad Yazdanpanah,et al.  Nonlinear Control and Disturbance Decoupling of HVAC Systems Using Feedback Linearization and Backstepping With Load Estimation , 2008, IEEE Transactions on Control Systems Technology.

[29]  Robert Schmitt,et al.  Single camera-based synchronisation within a concept of robotic assembly in motion , 2014 .