Robust Formation Control for Multiple Unmanned Aerial Vehicles

This book discusses the authors' recent research on formation control problems for multiple UAV systems, including time-varying formation, communication delays, fault-tolerant formation, and parameter uncertainties. It presents a robust optimal formation approach based on linear quadratic regulator control and robust compensation theory. The protocol can handle communication delays and actuator fault tolerance, ensuring formation tracking errors converge into a bounded neighborhood. It is suitable for graduate students, researchers, and engineers in the system and control community.

Format: Hardback
Length: 130 pages
Publication date: 01 December 2022
Publisher: Taylor & Francis Ltd

This book is a comprehensive exploration of recent research findings in formation control problems, encompassing a wide range of scenarios. The author's extensive research in time-varying formation, communication delays, fault-tolerant formation for multiple UAV systems with highly nonlinear and coupled dynamics, parameter uncertainties, and external disturbances has culminated in the development of a robust optimal formation approach.

Distinguishing itself from existing works, this book presents a novel methodology for designing distributed cooperative control laws for a group of UAVs. It leverages the linear quadratic regulator control method and the robust compensation theory to achieve optimal performance. The proposed control method consists of two main components: the nominal part, aimed at achieving desired tracking performance, and the robust compensation part, designed to mitigate the influence of highly nonlinear and strongly coupled parameter uncertainties, as well as external disturbances, on the global closed-loop control system.

Furthermore, this book provides rigorous proof of the robust properties of the proposed control method. It demonstrates how communication delays and actuator fault tolerance can be effectively restrained, ensuring the stability and reliability of the formation control system. Moreover, the book outlines a practical application of the proposed method to design formation control systems for multiple quadrotors and tail-sitters. Additional features include a robust control method that addresses the formation control problem for UAVs, as well as theoretical and experimental research on cooperative flight for both quadrotor and tail-sitter UAV groups.

With its comprehensive coverage, detailed explanations, and practical applications, this book is an invaluable resource for graduate students, researchers, and engineers in the system and control community, particularly those interested in robust control and formation control for multiple UAV systems.

Weight: 430g
Dimension: 234 x 156 (mm)
ISBN-13: 9781032149400