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LQR distributed cooperative control of a formation of low-speed experimental UAVs

LQR distributed cooperative control of a formation of low-speed experimental UAVs

Tomic, Ivana ORCID: 0000-0003-3502-5980, Milonidis, Efstathios and Halikias, George D. (2016) LQR distributed cooperative control of a formation of low-speed experimental UAVs. In: 2016 UKACC 11th International Conference on Control (CONTROL). IEEE, pp. 1-6. ISBN 978-1467398916 (doi:https://doi.org/10.1109/CONTROL.2016.7737541)

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Abstract

The paper presents a cooperative scheme for controlling arbitrary formations of low speed experimental UAVs based on a distributed LQR design methodology. Each UAV acts as an independent agent in the formation and its dynamics are described by a 6-DOF (degrees of freedom) nonlinear model. This is linearized for control design purposes around an operating point corresponding to straight flight conditions and simulated only for longitudinal motion. It is shown that the proposed controller stabilizes the overall formation and can control effectively the nonlinear multi-agent system. Also, it is shown via numerous simulations that the system provides reference tracking and that is robust to environmental disturbances such as nonuniform wind gusts acting on a formation of four UAVs and to the loss of communication between two neighbouring UAVs.

Item Type: Conference Proceedings
Title of Proceedings: 2016 UKACC 11th International Conference on Control (CONTROL)
Uncontrolled Keywords: LQR, distributed control, cooperative control, formation control, low-speed experimental UAVs
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Faculty / Department / Research Group: Faculty of Liberal Arts & Sciences
Faculty of Liberal Arts & Sciences > Internet of Things and Security (ISEC)
Faculty of Liberal Arts & Sciences > School of Computing & Mathematical Sciences (CAM)
Last Modified: 26 Nov 2020 22:34
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
Selected for GREAT 2019: GREAT 4
Selected for REF2021: REF 4
URI: http://gala.gre.ac.uk/id/eprint/24398

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