In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications.
This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible.
Several novel methods are presented:
- controllability and observability of multi-agent systems;
- robust consensus;
- flight formation control;
- stability of formations over noisy networks;
which generate solutions of guaranteed performance for UAV Flight Formation.
Contents
1. Introduction, J.A. Guerrero.
2. Theoretical Preliminaries, J.A. Guerrero.
3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra.
4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero.
5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra.
6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano.
7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero.
8. Formation Based on Potential Functions, L. García, A. Dzul.
9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo.
10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano.
11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano.
12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo.
13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias.
14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.
Chapter 1. Introduction 1
J.A. GUERRERO
1.1. Motivation 1
1.2. Historical background 4
1.3. Flight control 9
1.4. Flight formation control 11
1.5. Outline of the book 13
1.6. Bibliography 15
Chapter 2. Theoretical Preliminaries 19
J.A. GUERRERO
2.1. Passivity 19
2.2. Graph theory 20
2.3. Robustness problems 21
2.4. Bibliography 25
Chapter 3. Multiagent Coordination Strategies 27
J.A. GUERRERO, R. LOZANO, M.W. SPONG, N. CHOPRA
3.1. Introduction 28
3.2. Controllability and observability of interconnections 28
3.3. Formation leader tracking 37
3.4. Time-varying trajectory tracking 40
3.5. Linear high-order multiagent consensus 44
3.6. Conclusion 49
3.7. Bibliography 50
Chapter 4. Robust Control Design of Multiagent Systems with Parametric Uncertainty 51
J.A. GUERRERO, G. ROMERO
4.1. Introduction 52
4.2. Robust control design 54
4.3. Robust stability analysis 56
4.4. Robust stability of time-delay systems 61
4.5. Application to multiagent systems 62
4.6. Conclusions 73
4.7. Bibliography 73
Chapter 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs 75
Y.-C. LIU, N. CHOPRA
5.1. Summary 75
5.2. Introduction 75
5.3. Problem formulation 77
5.4. Adaptive controlled synchronization on strongly connected graphs 79
5.5. Robust controlled synchronization on strongly connected graph 83
5.6. Numerical examples 87
5.7. Conclusions 93
5.8. Appendix 94
5.9. Bibliography 95
Chapter 6. Modeling and Control of Mini UAV 99
G. FLORES COLUNGA, J.A. GUERRERO, J. ESCAREÑO, R. LOZANO
6.1. Introduction 99
6.2. General model 101
6.3. Control of a mini tailsitter 103
6.4. Quad-tilting rotor convertible MAV 117
6.5. Concluding remarks 131
6.6. Bibliography 132
Chapter 7. Flight Formation Control Strategies for Mini UAVs 135
J.A. GUERRERO
7.1. Introduction 135
7.2. Formation geometry 137
7.3. Communication network 138
7.4. Dynamic model 139
7.5. Formation flying control based on coordination 142
7.6. Formation flying control based on nested saturations 148
7.7. Trajectory-tracking control 153
7.8. Simulation results 158
7.9. Conclusions 162
7.10. Bibliography 162
Chapter 8. Formation Based on Potential Functions 165
L. GARCÍA, A. DZUL
8.1. Introduction 165
8.2. Dynamical model 166
8.3. Formation control 167
8.4. Position control 170
8.5. Simulation results 183
8.6. Conclusions 189
8.7. Bibliography 189
Chapter 9. Quadrotor Vision-Based Control 191
J.E. GOMEZ-BALDERAS, J.A. GUERRERO, S. SALAZAR, R. LOZANO, P. CASTILLO
9.1. Introduction 191
9.2. Quadrotor dynamic model and control 194
9.3. Computer vision preliminaries 197
9.4. Tracking of a visual target 201
9.5. Tracking of a visual line 209
9.6. Embedded architecture 214
9.7. Experimental results 214
9.8. Conclusions 221
9.9. Bibliography 221
Chapter 10. Toward Vision-Based Coordination of Quadrotor Platoons 225
L.R. GARCÍA CARRILLO, J.A. GUERRERO, R. LOZANO
10.1. Introduction 225
10.2. Problem statement 227
10.3. Dynamic model and control of a quadrotor 228
10.4. Vision-based position estimation 229
10.5. Coordination position control of two quadrotors 235
10.6. Architecture of the experimental platforms 237
10.7. Experimental results 240
10.8. Conclusions and future work 242
10.9. Bibliography 243
Chapter 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields 247
J.A. GUERRERO, Y. BESTAOUI, R. LOZANO
11.1. Introduction 247
11.2. Preliminaries 250
11.3. Path planning 251
11.4. Quadrotor formation control scheme 258
11.5. Quadrotor trajectory-tracking control 258
11.6. Simulation results 259
11.7. Conclusions and future work 264
11.8. Bibliography 264
Chapter 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control 267
J.A. GUERRERO, Y. CHALLAL, P. CASTILLO
12.1. Introduction 267
12.2. Multiquadrotor consensus 269
12.3. Multiagent consensus over wireless networks 272
12.4. Quadrotor consensus over wireless networks 275
12.5. Simulation results 278
12.6. Conclusions and future work 282
12.7. Bibliography 282
Chapter 13. MAC Protocol for Wireless Communications 285
A. MENDEZ, M. PANDURO, O. ELIZARRARAS, D. COVARRUBIAS
13.1. Introduction 285
13.2. Protocols of medium access control 287
13.3. Proposed MAC protocol 296
13.4. Experimental setup and results 299
13.5. Conclusions 300
13.6. Acknowledgments 301
13.7. Bibliography 301
Chapter 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance 305
A. REYNA, M.A. PANDURO, A. MENDEZ
14.1. Introduction 305
14.2. Design of planar antenna arrays 306
14.3. Design of concentric ring arrays 314
14.4. Discussions and open problems 319
14.5. Conclusions 320
14.6. Acknowledgments 320
14.7. Bibliography 320
List of Authors 323
Index 325
