UID:
almahu_9949420012802882
Format:
1 online resource.
ISBN:
9781000788501
,
1000788504
,
9781003242147
,
1003242146
,
9781000788532
,
1000788539
Series Statement:
Automation and control engineering
Content:
This book is based on the authors' recent research results on formation control problems, including time-varying formation, communication delays, fault-tolerant formation for multiple UAV systems with highly nonlinear and coupled, parameter uncertainties, and external disturbances. Differentiating from existing works, this book presents a robust optimal formation approach to designing distributed cooperative control laws for a group of UAVs, based on the linear quadratic regulator control method and the robust compensation theory. The proposed control method is composed of two parts: the nominal part to achieve desired tracking performance and the robust compensation part to restrain the influence of highly nonlinear and strongly coupledparameter uncertainties, and external disturbances on the global closed-loop control system. Furthermore, this book gives proof of their robust properties. The influence of communication delays and actuator fault tolerance can be restrained by the proposed robust formation control protocol, and the formation tracking errors can converge into a neighborhood of the origin bounded by a given constant in a finite time. Moreover, the book provides details about the practical application of the proposed method to design formation control systems for multiple quadrotors and tail-sitters. Additional features includea robust control method thatis proposed to address the formation control problem for UAVsand theoretical and experimental research for the cooperative flight of the quadrotor UAV group and the tail-sitter UAV group. Robust Formation Control for Multiple Unmanned Aerial Vehiclesis suitablefor graduate students, researchers, and engineers in the system and control community, especially those engaged in the areas of robust control, UAV swarming, and multi-agent systems.
Additional Edition:
Print version: ISBN 9781000788532
Additional Edition:
Print version: ISBN 103214940X
Additional Edition:
ISBN 9781032149400
Language:
English
DOI:
10.1201/9781003242147
URL:
https://www.taylorfrancis.com/books/9781003242147
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