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Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System
A consensus control law is proposed for a multi-agent system of quadrotors with leader–follower communication topology for three quadrotor agents. The genetic algorithm (GA) is the proposed optimization technique to tune the consensus control parameters. The complete nonlinear model is used without...
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/PMC7349098/ https://www.ncbi.nlm.nih.gov/pubmed/32599862 http://dx.doi.org/10.3390/s20123576 |
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author | Najm, Aws Abdulsalam Ibraheem, Ibraheem Kasim Azar, Ahmad Taher Humaidi, Amjad J. |
author_facet | Najm, Aws Abdulsalam Ibraheem, Ibraheem Kasim Azar, Ahmad Taher Humaidi, Amjad J. |
author_sort | Najm, Aws Abdulsalam |
collection | PubMed |
description | A consensus control law is proposed for a multi-agent system of quadrotors with leader–follower communication topology for three quadrotor agents. The genetic algorithm (GA) is the proposed optimization technique to tune the consensus control parameters. The complete nonlinear model is used without any further simplifications in the simulations, while simplification in the model is used to theoretically design the controller. Different case studies and tests are done (i.e., trajectory tracking formation and switching topology) to show the effectiveness of the proposed controller. The results show good performance in all tests while achieving the consensus of the desired formations. |
format | Online Article Text |
id | pubmed-7349098 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-73490982020-07-22 Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System Najm, Aws Abdulsalam Ibraheem, Ibraheem Kasim Azar, Ahmad Taher Humaidi, Amjad J. Sensors (Basel) Article A consensus control law is proposed for a multi-agent system of quadrotors with leader–follower communication topology for three quadrotor agents. The genetic algorithm (GA) is the proposed optimization technique to tune the consensus control parameters. The complete nonlinear model is used without any further simplifications in the simulations, while simplification in the model is used to theoretically design the controller. Different case studies and tests are done (i.e., trajectory tracking formation and switching topology) to show the effectiveness of the proposed controller. The results show good performance in all tests while achieving the consensus of the desired formations. MDPI 2020-06-24 /pmc/articles/PMC7349098/ /pubmed/32599862 http://dx.doi.org/10.3390/s20123576 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 Najm, Aws Abdulsalam Ibraheem, Ibraheem Kasim Azar, Ahmad Taher Humaidi, Amjad J. Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System |
title | Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System |
title_full | Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System |
title_fullStr | Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System |
title_full_unstemmed | Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System |
title_short | Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System |
title_sort | genetic optimization-based consensus control of multi-agent 6-dof uav system |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7349098/ https://www.ncbi.nlm.nih.gov/pubmed/32599862 http://dx.doi.org/10.3390/s20123576 |
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