{"title":"A negative imaginary robust formation control scheme for networked multi-tilt tricopters utilizing an inner-loop sliding-mode control technique","authors":"","doi":"10.1016/j.automatica.2024.111813","DOIUrl":null,"url":null,"abstract":"<div><p>This paper proposes a robust formation control scheme for networked multi-tilt tricopter UAVs utilizing the Negative Imaginary (NI) and Positive Real (PR) theory. A Sliding Mode Control (SMC) scheme is designed for a multi-tilt tricopter to ensure stable hovering at a desired height. Then, a modified Subspace-based system identification algorithm is devised to identify a six-by-six NI model of the inner-loop-SMC-controlled tricopter in the continuous-time domain by exploiting the Laguerre filter. A two-loop formation control scheme has been developed for networked multi-tilt tricopters where the inner loop of each tricopter applies the SMC scheme, and the outer loop implements a distributed output feedback controller that satisfies the ‘mixed’ Strictly NI (SNI) + Strictly PR (SPR) system properties. Subsequently, we have established the robustness of the proposed scheme against NI/PR-type uncertainties and sudden loss of agents. The eigenvalue loci (also known as characteristic loci) technique is used instead of the Lyapunov-based approach to prove the asymptotic stability of the formation control scheme. An in-depth simulation case study was performed on a group of six inner-loop-SMC-controlled multi-tilt tricopters connected via a network to achieve a formation control mission, even in the presence of uncertainties.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8000,"publicationDate":"2024-08-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automatica","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0005109824003078","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper proposes a robust formation control scheme for networked multi-tilt tricopter UAVs utilizing the Negative Imaginary (NI) and Positive Real (PR) theory. A Sliding Mode Control (SMC) scheme is designed for a multi-tilt tricopter to ensure stable hovering at a desired height. Then, a modified Subspace-based system identification algorithm is devised to identify a six-by-six NI model of the inner-loop-SMC-controlled tricopter in the continuous-time domain by exploiting the Laguerre filter. A two-loop formation control scheme has been developed for networked multi-tilt tricopters where the inner loop of each tricopter applies the SMC scheme, and the outer loop implements a distributed output feedback controller that satisfies the ‘mixed’ Strictly NI (SNI) + Strictly PR (SPR) system properties. Subsequently, we have established the robustness of the proposed scheme against NI/PR-type uncertainties and sudden loss of agents. The eigenvalue loci (also known as characteristic loci) technique is used instead of the Lyapunov-based approach to prove the asymptotic stability of the formation control scheme. An in-depth simulation case study was performed on a group of six inner-loop-SMC-controlled multi-tilt tricopters connected via a network to achieve a formation control mission, even in the presence of uncertainties.
期刊介绍:
Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field.
After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience.
Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.