Distributed cooperative control of autonomous multi-agent UAV systems using smooth control

作     者：BELKACEM Kada MUNAWAR Khalid MUHAMMAD Shafique Shaikh BELKACEM Kada;MUNAWAR Khalid;MUHAMMAD Shafique Shaikh

作者机构：Department of Aerospace EngineeringKing Abdulaziz UniversityJeddah 21589Saudi Arabia Department of Electrical and Computer EngineeringKing Abdulaziz UniversityJeddah 21589Saudi Arabia 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2020年第31卷第6期

页      面：1297-1307页

核心收录：

学科分类：0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 07[理学] 08[工学] 071102[理学-系统分析与集成] 0711[理学-系统科学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 081103[工学-系统工程] 

基　　金：This work was supported by the Deanship of Scientific Research(DSR)at King Abdulaziz University Jeddah(G-363-135-1438) 

主　　题：cooperative control distributed consensus three-dimensional formation control multiple-UAV system 

摘      要：This paper addresses the cooperative control problem of multiple unmanned aerial vehicles(multi-UAV)***,a new distributed consensus algorithm for second-order nonlinear multi-agent systems(MAS)is formulated under the leader-following *** algorithm provides smooth input signals to the agents’control channels,which avoids the chattering effect generated by the conventional sliding mode-based control ***,a new formation control scheme is developed by integrating smooth distributed consensus control protocols into the geometric pattern model to achieve three-dimensional formation *** Lyapunov theory is used to prove the stability and convergence of both distributed consensus and formation *** effectiveness of the proposed algorithms is demonstrated through simulation results.