<p>UAV Formation Control under Fixed and Variable Adjacency based Directed Network Topologies</p>
Online Publishing @ NISCAIR
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Authentication Code |
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Title Statement |
<p>UAV Formation Control under Fixed and Variable Adjacency based Directed Network Topologies</p> |
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Added Entry - Uncontrolled Name |
Singha, Arindam ; Department of Electrical and Electronics Engineering, National Institute of Technology Sikkim, Ravangla,
South Sikkim 737 139, India Ray, Anjan Kumar; Department of Electrical and Electronics Engineering, National Institute of Technology Sikkim, Ravangla, South Sikkim 737 139, India Samaddar, Arun Baran; National Institute of Technology Sikkim, Ravangla, South Sikkim 737 139, India Digital India Corporation (formerly known as the Media Lab Asia) |
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Uncontrolled Index Term |
Graph network, Laplacian matrix, Lyapunov stability, Nonholonomic constraints, Weighted adjacency matrix |
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Summary, etc. |
<p>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.</p> |
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Publication, Distribution, Etc. |
Journal of Scientific & Industrial Research 2022-12-15 12:44:42 |
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Electronic Location and Access |
application/pdf http://op.niscair.res.in/index.php/JSIR/article/view/48287 |
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Data Source Entry |
Journal of Scientific & Industrial Research; ##issue.vol## 81, ##issue.no## 12 (2022): Journal of Scientific & Industrial Research |
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Language Note |
en |
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