Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
Robust UAV formation control
Submission Author:
Thamiris Costa , SC
Co-Authors:
Thamiris Costa, Ebrahim El Youssef, Edson Roberto De Pieri
Presenter: Thamiris Costa
doi://10.26678/ABCM.COBEM2023.COB2023-1433
Abstract
Unmanned aerial vehicles (UAVs) have been attracting the attention of many researchers because of the advantages that arise from their use in the execution of tasks from different areas. With this robot type, it is possible to access places unreachable for humans, due to security or inaccessibility issues, for instance. Even though UAV systems are already advantageous, using multiple UAVs cooperatively in the same task brings more advantages, such as fault tolerance, flexibility, and time efficiency. UAVs swarm is the research topic that studies multiple UAVs systems, and it has been extensively studied. UAVs swarms are complex systems presenting many challenges from different technological fields. Developing UAV swarm systems implies dealing with decision-making, path planning, control, and communication subsystems. In this work, we focus on the control field. Controlling UAVs swarm implies dealing with formation control, which is about controlling the swarm to obtain the desired shape for the swarm. The formation control problem consists of formulating a control law capable of maintaining the UAVs at a safe distance from each other, controlling the UAVs in their desired positions during the entire task execution time, and ensuring that the UAVs will not collide with each other. Thus, proposing a solution for the formation control problem involves different technological challenges. Considering the relevance of this kind of robotic system and the technological challenges involved, formation control is an active research topic. Then, the aim of the work is to develop a robust formation control for a UAVs swarm based on the robust control H infinity methodology. In this work, we propose a robust formation control system for UAVs swarms. The approaches used to develop the control system are the leader-follower and consensus. The control law is obtained considering the methodology of the robust control H infinity. The stability analysis is performed by using the Lyapunov theory through linear matrix inequalities (LMIs). The results were performed in MATLAB/Simulink software considering a UAVs swarm composed of two virtual leaders and six followers. In the results, it is possible to verify that the formation could keep the desired shape during the task execution time. Then, the control system proposed could lead the work objective achievement.
Keywords
UAVs, Formation control, Robust controller
