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

^*Bu çalışma için yazışmadan sorumlu yazar

Araştırma sonucu: ???type-name??? › Makale › bilirkişi

386 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Sayfa (başlangıç-bitiş)	1285-1296
Sayfa sayısı	12
Dergi	Automatica
Hacim	40
Basın numarası	8
DOI'lar	https://doi.org/10.1016/j.automatica.2004.02.017
Yayın durumu	Yayınlandı - Ağu 2004
Harici olarak yayınlandı	Evet

Finansman

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.

Finansörler	Finansör numarası
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

Belgeye Erişim

10.1016/j.automatica.2004.02.017

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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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.",

keywords = "Decentralized control, Information flows, Large-scale systems, Reliability, Robustness",

author = "Stipanovi{\'c}, {Du{\v s}n M.} and G{\"o}khan Inalhan and Rodney Teo and Tomlin, {Claire J.}",

year = "2004",

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AU - Teo, Rodney

AU - Tomlin, Claire J.

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AB - 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.

KW - Decentralized control

KW - Information flows

KW - Large-scale systems

KW - Reliability

KW - Robustness

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M3 - Article

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SP - 1285

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JO - Automatica

JF - Automatica

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Decentralized overlapping control of a formation of unmanned aerial vehicles

Özet

Finansman

Belgeye Erişim

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