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A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs
In this paper, a nonlinear robust formation flight controller for a swarm of unmanned aerial vehicles (UAVs) is presented. It is based on the virtual leader approach and is capable of achieving and maintaining a formation with time-varying shape. By using a decentralized architecture, the local cont...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7309143/ https://www.ncbi.nlm.nih.gov/pubmed/32486183 http://dx.doi.org/10.3390/s20113094 |
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author | Cordeiro, Thiago F. K. Ishihara, João Y. Ferreira, Henrique C. |
author_facet | Cordeiro, Thiago F. K. Ishihara, João Y. Ferreira, Henrique C. |
author_sort | Cordeiro, Thiago F. K. |
collection | PubMed |
description | In this paper, a nonlinear robust formation flight controller for a swarm of unmanned aerial vehicles (UAVs) is presented. It is based on the virtual leader approach and is capable of achieving and maintaining a formation with time-varying shape. By using a decentralized architecture, the local controller in each UAV uses information only from the UAV itself, its neighbors, and from the virtual leader. Also, a synchronization control objective provides a mechanism to weight between the fleet achieving the desired formation shape, that is, achieving the desired relative position between the UAVs, and each UAV achieving its desired absolute position. The use of a combination of a sliding mode controller and a low pass filter reduces the usual chattering effect, providing a smooth control signal while maintaining robustness. Simulation results show the effectiveness of the proposed decentralized controller. |
format | Online Article Text |
id | pubmed-7309143 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-73091432020-06-25 A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs Cordeiro, Thiago F. K. Ishihara, João Y. Ferreira, Henrique C. Sensors (Basel) Article In this paper, a nonlinear robust formation flight controller for a swarm of unmanned aerial vehicles (UAVs) is presented. It is based on the virtual leader approach and is capable of achieving and maintaining a formation with time-varying shape. By using a decentralized architecture, the local controller in each UAV uses information only from the UAV itself, its neighbors, and from the virtual leader. Also, a synchronization control objective provides a mechanism to weight between the fleet achieving the desired formation shape, that is, achieving the desired relative position between the UAVs, and each UAV achieving its desired absolute position. The use of a combination of a sliding mode controller and a low pass filter reduces the usual chattering effect, providing a smooth control signal while maintaining robustness. Simulation results show the effectiveness of the proposed decentralized controller. MDPI 2020-05-30 /pmc/articles/PMC7309143/ /pubmed/32486183 http://dx.doi.org/10.3390/s20113094 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Cordeiro, Thiago F. K. Ishihara, João Y. Ferreira, Henrique C. A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs |
title | A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs |
title_full | A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs |
title_fullStr | A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs |
title_full_unstemmed | A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs |
title_short | A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs |
title_sort | decentralized low-chattering sliding mode formation flight controller for a swarm of uavs |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7309143/ https://www.ncbi.nlm.nih.gov/pubmed/32486183 http://dx.doi.org/10.3390/s20113094 |
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