RISE-based robust formation control for multi-UAV system

Yu Komagine, Ryo Toyota, Kento Kotani, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper deals with a robust formation control methodology for the Multi-UAV system with uncertain exogenous disturbance. The fourth-order UAV model with disturbance and the disturbance estimate system is introduced. In order to achieve the rigid formation fight, graph theory and consensus algorithm are utilized and the state of the UAVs converges to desired value by using Leader-Follower structure. The proposed control law includes the Robust Integral of the Sign of error (RISE) for estimation of the disturbance and also involves collision avoidance property based on potential method. The stability and convergent properties are proven based on Lyapunov theory. Finally, several simulation results show the effectiveness of the proposed method compared with a conventional sliding mode control.

Original languageEnglish
Title of host publication2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages880-885
Number of pages6
Volume2017-November
ISBN (Electronic)9784907764579
DOIs
Publication statusPublished - 2017 Nov 10
Event56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 - Kanazawa, Japan
Duration: 2017 Sep 192017 Sep 22

Other

Other56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
CountryJapan
CityKanazawa
Period17/9/1917/9/22

Fingerprint

Formation Control
Unmanned aerial vehicles (UAV)
Robust Control
disturbances
Disturbance
Graph theory
Sliding mode control
Collision avoidance
collision avoidance
graph theory
Lyapunov Theory
Collision Avoidance
Sliding Mode Control
Fourth Order
sliding
methodology
Converge
Methodology
estimates
Estimate

Keywords

  • Consensus
  • Formation Control
  • Multi-Agent System
  • RISE
  • Robust control

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Optimization
  • Control and Systems Engineering
  • Instrumentation

Cite this

Komagine, Y., Toyota, R., Kotani, K., & Namerikawa, T. (2017). RISE-based robust formation control for multi-UAV system. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017 (Vol. 2017-November, pp. 880-885). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2017.8105456

RISE-based robust formation control for multi-UAV system. / Komagine, Yu; Toyota, Ryo; Kotani, Kento; Namerikawa, Toru.

2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Vol. 2017-November Institute of Electrical and Electronics Engineers Inc., 2017. p. 880-885.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Komagine, Y, Toyota, R, Kotani, K & Namerikawa, T 2017, RISE-based robust formation control for multi-UAV system. in 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. vol. 2017-November, Institute of Electrical and Electronics Engineers Inc., pp. 880-885, 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017, Kanazawa, Japan, 17/9/19. https://doi.org/10.23919/SICE.2017.8105456
Komagine Y, Toyota R, Kotani K, Namerikawa T. RISE-based robust formation control for multi-UAV system. In 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Vol. 2017-November. Institute of Electrical and Electronics Engineers Inc. 2017. p. 880-885 https://doi.org/10.23919/SICE.2017.8105456
Komagine, Yu ; Toyota, Ryo ; Kotani, Kento ; Namerikawa, Toru. / RISE-based robust formation control for multi-UAV system. 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017. Vol. 2017-November Institute of Electrical and Electronics Engineers Inc., 2017. pp. 880-885
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