Consensus controller for multi-UAV navigation  

作　　者：Patrik KOLARIC Ci CHEN Ankur DALAL Frank L. LEWIS 

机构地区：[1]UTA Research Institute, University of Texas at Arlington, 7300 Jack Newell Bird S, Fort Worth, TX, 76118, U.S.A. [2]School of Automation, Guangdong University of Technology Guangdong Key Laboratory of loT Information Technology, Guangzhou Guangzhou 510006, China [3]State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang Liaoning 110819, China

出　　处：《Control Theory and Technology》2018年第2期110-121,共12页控制理论与技术（英文版）

基　　金：This work was supported in part by the National Natural Science Foundation of China （No. 61633007, 61703112）, in part by the China Postdoctoral Science Foundation （No. 2016M600643） and the special fund （No. 2017T100618）, and in part by the Office of Naval Research （No. N00014-17-1-2239, NO0014-18-1-2221 ）.

摘　　要：In this paper, we design consensus algorithms for multiple unmanned aerial vehicles （UAV）. We mainly focus on the control design in the face of measurement noise and propose a position consensus controller based on the sliding mode control by using the distributed UAV information. Within the framework of Lyapunov theory, it is shown that all signals in the closed-loop multi- UAV systems are stabilized by the proposed algorithm, while consensus errors are uniformly ultimately bounded. Moreover, for each local UAV, we propose a mechanism to define the trustworthiness, based on which the edge weights are tuned to eliminate negative influence from stubborn agents or agents exposed to extremely noisy measurement. Finally, we develop software for a nano UAV platform, based on which we implement our algorithms to address measurement noises in UAV flight tests. The experimental results validate the effectiveness of the proposed algorithms.In this paper, we design consensus algorithms for multiple unmanned aerial vehicles （UAV）. We mainly focus on the control design in the face of measurement noise and propose a position consensus controller based on the sliding mode control by using the distributed UAV information. Within the framework of Lyapunov theory, it is shown that all signals in the closed-loop multi- UAV systems are stabilized by the proposed algorithm, while consensus errors are uniformly ultimately bounded. Moreover, for each local UAV, we propose a mechanism to define the trustworthiness, based on which the edge weights are tuned to eliminate negative influence from stubborn agents or agents exposed to extremely noisy measurement. Finally, we develop software for a nano UAV platform, based on which we implement our algorithms to address measurement noises in UAV flight tests. The experimental results validate the effectiveness of the proposed algorithms.

关 键 词：Consensus control multi-agent system QUADROTOR Lyapunov stability distributed system 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] O175.13[自动化与计算机技术—控制科学与工程]