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Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances
Wei Xie1; David Cabecinhas2; Rita Cunha2,3; Carlos Silvestre1,2
2022-01
Source PublicationIEEE Transactions on Systems, Man, and Cybernetics: Systems
ABS Journal Level3
ISSN2168-2216
Volume52Issue:1Pages:667-679
Abstract

In this article, we address the task of cooperative path following control of multiple autonomous quadcopters in the presence of unknown external disturbances. Under the assumption that the communications among the vehicles are bidirectional and continuous, a synchronized path following strategy is proposed that regulates the speed of each vehicle along its path to reach consensus in relative position. Moreover, collision-free transient paths from the vehicle initial positions to a group of suitable selected positions along the desired paths are designed. Building on the backstepping technique, the proposed path following controller for each individual vehicle drives the quadcopter toward, and to stay within an arbitrarily small neighborhood of its corresponding desired path, achieving global uniformly ultimately boundedness. In addition, the devised controller guarantees that the actuations are bounded with respect to the position error. The controller is also made robust to external constant or slowly time-varying disturbances by the introduction of dynamic estimators for the disturbances. A projection operator is used to ensure that the estimates remain within the prescribed bounds and are sufficiently smooth to be backstepped. In order to validate the effectiveness and performance of the proposed methodology, we present and analyze both simulation and experimental results.

KeywordCollision Free Cooperative Path Following (Cpf) Disturbance Estimator Multiple Quadcopters Robust
DOI10.1109/TSMC.2020.3032401
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:000731147700065
Scopus ID2-s2.0-85097173830
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Cited Times [WOS]:2   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Corresponding AuthorCarlos Silvestre
Affiliation1.Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Macau, China.
2.Institute for Systems and Robotics, Instituto Superior Téncnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal.
3.Department of Electrical and Computer Engineering, Universidade de Lisboa, 1049-001 Lisbon, Portugal.
4.Faculty of Science and Technology, Department of Electrical and Computer Engineering, University of Macau, Macau, China
First Author AffilicationFaculty of Science and Technology
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Wei Xie,David Cabecinhas,Rita Cunha,et al. Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems,2022,52(1):667-679.
APA Wei Xie,David Cabecinhas,Rita Cunha,&Carlos Silvestre.(2022).Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances.IEEE Transactions on Systems, Man, and Cybernetics: Systems,52(1),667-679.
MLA Wei Xie,et al."Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances".IEEE Transactions on Systems, Man, and Cybernetics: Systems 52.1(2022):667-679.
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