A sectorial fuzzy consensus algorithm for the formation flight of multiple quadrotor unmanned aerial vehicles

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2020-11-01 DOI:10.1177/1756829320973579

E. J. Ollervides-Vazquez, E. G. Rojo-Rodriguez, O. Garcia-Salazar, L. Amezquita-Brooks, P. Castillo, V. Santibáñez

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引用次数: 3

Abstract

This paper presents an algorithm based on fuzzy theory for the formation flight of the multi-quadrotors. For this purpose, the mathematical model of N-quadrotor unmanned aerial vehicles is presented using the Newton-Euler formulation. The strategy of the formation flight is based on a structure composed by a sectorial fuzzy controller and the linear systems whose state variables are the position and velocity of the ith quadrotor. The stability analysis is described as a generalized form for N-quadrotor unmanned aerial vehicles and it is based on the Lyapunov theory. This analysis demonstrates that the closed-loop system is globally asymptotically stable so that the quadrotors unmanned aerial vehicles reach the consensus. Numerical simulation demonstrates the robustness of the proposed scheme for the formation flight even in the presence of disturbances. Finally, experimental results show the feasibility of the proposed algorithm for the formation flight of multiple unmanned aerial vehicles.

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多架四旋翼无人机编队飞行的扇形模糊共识算法

提出了一种基于模糊理论的多旋翼飞机编队飞行算法。为此，采用牛顿-欧拉公式建立了n型四旋翼无人机的数学模型。编队飞行策略是基于扇形模糊控制器和状态变量为第i架四旋翼飞行器位置和速度的线性系统组成的结构。基于李亚普诺夫理论，将n型四旋翼无人机的稳定性分析描述为一种广义形式。分析表明，该闭环系统是全局渐近稳定的，使得四旋翼无人机达到了共识。数值仿真结果表明，该方法对编队飞行具有鲁棒性。最后，通过实验验证了该算法在多架无人机编队飞行中的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.