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UAV Formation Control under Fixed and Variable Adjacency based Directed Network Topologies

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Title UAV Formation Control under Fixed and Variable Adjacency based Directed Network Topologies
 
Creator Singha, Arindam
Ray, Anjan Kumar
Samaddar, Arun Baran
 
Subject Graph network
Laplacian matrix
Lyapunov stability
Nonholonomic constraints
Weighted adjacency matrix
 
Description 1285-1296
The UAV formation control is one of the key aspects in several applications like surveillance, moving target tracking,
load-transportation, and delivery systems etc. These situations demand the multiple UAVs to manoeuvre in a desired
formation. To address this problem, a distributed formation control scheme is proposed incorporating the details about the
state of the neighbouring UAVs. The communication network topology among the UAVs is considered to be directed with
the constant and the weighted adjacency matrices. The nonholonomic constraints are considered while deriving the desired
Euler angles. Satisfying the conditions of Lyapunov provides necessary proof of stability along the positional and the
attitude subsystems. Simulation results demonstrate that the desired tetrahedron, octahedron, and cube shapes are attained
and maintained by the UAVs successfully. Also, the designed formation paradigm works proficiently for both the constant
and the weighted adjacency matrices based directed network topologies. The performance validation is done through
extensive comparative analysis for varying network connections.
 
Date 2022-12-07T11:46:46Z
2022-12-07T11:46:46Z
2022-12
 
Type Article
 
Identifier 0022-4456 (Print); 0975-1084 (Online)
http://nopr.niscpr.res.in/handle/123456789/61004
https://doi.org/10.56042/jsir.v81i12.48287
 
Language en
 
Publisher NIScPR-CSIR,India
 
Source JSIR Vol.81(12) [December 2022]