This article studies the leader-following formation tracking control problem of multiple vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) subject to uncertain parameters, in which the target formation configuration is defined by using the interneighbors' bearing vectors. An adaptive formation control algorithm with bearing-only measurements is proposed under a hierarchical control framework. More specifically, a saturated adaptive distributed control force is developed in the position loop with bearing-only measurements. Since the bearing vectors with respect to the neighbors can be directly measured by low-cost onboard cameras, the proposed formation algorithm can be implemented without interagent communication. Subsequently, in the attitude loop, an adaptive hybrid control scheme via two modified Rodrigues parameters (MRPs) sets is proposed, which achieves the command attitude tracking globally and also avoids the unwinding problem of MRPs. Based on the Lyapunov stability analysis and hybrid theory, we prove that the overall closed-loop error system is globally asymptotically stable. Finally, we provide a numerical example to demonstrate the effectiveness of the proposed control algorithm.
Download full-text PDF |
Source |
|---|---|
| http://dx.doi.org/10.1109/TCYB.2023.3290726 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Distributed Cubature Information Filtering Method for State Estimation in Bearing-Only Sensor Network.
Entropy (Basel)
March 2024
Unmanned System Research Institute, Northwestern Polytechnical University, Xi'an 710072, China.
The problem of state estimation based on bearing-only sensors is increasingly important while existing research on distributed filtering solutions is rather limited. Therefore, this paper proposed the novel distributed cubature information filtering (DCIF) method for addressing the state estimation challenge in bearing-only sensor networks. Firstly, the system model of the bearing-only sensor network was constructed, and the observability of the system was analyzed.
View Article and Find Full Text PDFRobust Cubature Kalman Filter for Moving-Target Tracking with Missing Measurements.
Sensors (Basel)
January 2024
College of Electronic and Information Engineering, Tongji University, Shanghai 201804, China.
Handling the challenge of missing measurements in nonlinear systems is a difficult problem in various scientific and engineering fields. Missing measurements, which can arise from technical faults during observation, diffusion channel shrinking, or the loss of specific metrics, can bring many challenges when estimating the state of nonlinear systems. To tackle this issue, this paper proposes a technique that utilizes a robust cubature Kalman filter (RCKF) by integrating Huber's M-estimation theory with the standard conventional cubature Kalman filter (CKF).
View Article and Find Full Text PDFThis article studies the leader-following formation tracking control problem of multiple vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) subject to uncertain parameters, in which the target formation configuration is defined by using the interneighbors' bearing vectors. An adaptive formation control algorithm with bearing-only measurements is proposed under a hierarchical control framework. More specifically, a saturated adaptive distributed control force is developed in the position loop with bearing-only measurements.
View Article and Find Full Text PDFDoes Prolonged Weight Relief Increase the Chances of a Favourable Outcome After Containment for Perthes Disease?
J Pediatr Orthop
February 2023
Department of Paediatric Orthopaedics, Kasturba Medical College, Manipal Academy of Higher Education, Manipal, 576104, Karnataka, India.
We have been treating children with Legg-Calvé-Perthes disease (LCPD) with a femoral varus osteotomy (PFVO) and weight relief till the disease evolves to the latter part of the stage of reconstitution (Stage IIIb). This entails weight relief for 18 to 24 months. We undertook this case-control study to test if a shorter period of weight relief would compromise the chance of retaining the spherical shape of the femoral head when the disease healed.
View Article and Find Full Text PDFExploring in vivo lesion myelination dynamics: Longitudinal Myelin Water Imaging in early Multiple Sclerosis.
Neuroimage Clin
December 2022
Institute of Diagnostic and Interventional Neuroradiology, Carl Gustav Carus University Hospital, Technische Universität Dresden, Germany.
Background: Multiple Sclerosis (MS) lesions are pathologically heterogeneous and the temporal behavior in terms of growth and myelination status of individual lesions is highly variable, especially in the early phase of the disease. Thus, monitoring the development of individual lesion myelination by using quantitative magnetic resonance myelin water imaging (MWI) could be valuable to capture the variability of disease pathology and get an individual insight into the subclinical disease activity.
Objective: The goal of this work was (1) to observe the variation and longitudinal change of in vivo lesion myelination by means of MWI and its parameter Myelin Water Fraction (MWF), and, (2) to identify individual lesion myelination patterns in early MS.
Want AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!