Decentralized overlapping control of a formation of unmanned aerial vehicles

Dušn M. Stipanović; Gökhan Inalhan; Rodney Teo; Claire J. Tomlin

doi:10.1016/j.automatica.2004.02.017

Decentralized overlapping control of a formation of unmanned aerial vehicles

Dušn M. Stipanović^*, Gökhan Inalhan, Rodney Teo, Claire J. Tomlin

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

386 Citations (Scopus)

Abstract

Decentralized overlapping feedback laws are designed for a formation of unmanned aerial vehicles. The dynamic model of the formation with an information structure constraint in which each vehicle, except the leader, only detects the vehicle directly in front of it, is treated as an interconnected system with overlapping subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expanded into a higher dimensional space in which the subsystems appear to be disjoint. Then, at each subsystem, a static state feedback controller is designed to robustly stabilize the perturbed nominal dynamics of the subsystem. The design procedure is based on the application of convex optimization tools involving linear matrix inequalities. As a final step, the decentralized controllers are contracted back to the original interconnected system for implementation.

Original language	English
Pages (from-to)	1285-1296
Number of pages	12
Journal	Automatica
Volume	40
Issue number	8
DOIs	https://doi.org/10.1016/j.automatica.2004.02.017
Publication status	Published - Aug 2004
Externally published	Yes

Funding

Claire Tomlin is a recipient of the Eckman Award of the American Automatic Control Council (2003), the AIAA Outstanding Teacher Award, Stanford (2001), NSF Career Award, Stanford (1999), Terman Fellowship, Stanford (1998), the Bernard Friedman Memorial Prize in Applied Mathematics, Berkeley (1998), and the Zonta Amelia Earhart Awards for Aeronautics Research (1996–98). This work was supported in part by DARPA under the Software Enabled Control Program (AFRL contract F33615-99-C-3014), in part by the DoD Multidisciplinary University Research Initiative (MURI) program administered by the Office of Naval Research under Grant N00014-00-1-0637, and in part by AFOSR URI.

Funders	Funder number
AFOSR URI
AIAA
American Automatic Control Council
Bernard Friedman Memorial Prize
DoD Multidisciplinary University
Zonta Amelia Earhart Awards for Aeronautics Research	1996–98
National Science Foundation
Office of Naval Research	N00014-00-1-0637
Defense Advanced Research Projects Agency	F33615-99-C-3014

Keywords

Decentralized control
Information flows
Large-scale systems
Reliability
Robustness

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10.1016/j.automatica.2004.02.017

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abstract = "Decentralized overlapping feedback laws are designed for a formation of unmanned aerial vehicles. The dynamic model of the formation with an information structure constraint in which each vehicle, except the leader, only detects the vehicle directly in front of it, is treated as an interconnected system with overlapping subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expanded into a higher dimensional space in which the subsystems appear to be disjoint. Then, at each subsystem, a static state feedback controller is designed to robustly stabilize the perturbed nominal dynamics of the subsystem. The design procedure is based on the application of convex optimization tools involving linear matrix inequalities. As a final step, the decentralized controllers are contracted back to the original interconnected system for implementation.",

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Decentralized overlapping control of a formation of unmanned aerial vehicles

Abstract

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Keywords

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