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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...

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Detalles Bibliográficos
Autores principales: Cordeiro, Thiago F. K., Ishihara, João Y., Ferreira, Henrique C.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
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.
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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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