Distributed control for multiple unmanned aerial vehicles with one-step predictive finite memory control

Hyun Ho Kang, Sang Su Lee, Choon Ki Ahn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A novel distributed control scheme, called one-step predictive finite memory control (OPFMC), is proposed for multiple unmanned aerial vehicles (UAVs). The OPFMC is constructed through a controller gain obtained from a distributed system considering multiple UAVs. Furthermore, the OPFMC is developed with the estimated states acquired through a gain that minimizes a newly introduced cost function: Frobenius norm, and from two consecutive processes with differently defined stacked measurements by introducing a weight parameter in the horizon bank that represents a finite memory structure. Since unexpected disturbance or unknown noise is compensated by the weight parameter, OPFMC shows robustness in the presence of unexpected disturbances or unknown noise. The robust performance and fast convergence of the proposed control scheme under disturbance or noise is demonstrated through experimental results.

Original languageEnglish
Title of host publication2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1769-1774
Number of pages6
ISBN (Electronic)9781728145693
DOIs
Publication statusPublished - 2019 Oct
Event2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 - Bari, Italy
Duration: 2019 Oct 62019 Oct 9

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume2019-October
ISSN (Print)1062-922X

Conference

Conference2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
CountryItaly
CityBari
Period19/10/619/10/9

Keywords

  • Distributed system
  • Finite memory structure
  • Multiple unmanned aerial vehicles (UAVs)
  • Robustness
  • Unbiasedness

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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  • Cite this

    Kang, H. H., Lee, S. S., & Ahn, C. K. (2019). Distributed control for multiple unmanned aerial vehicles with one-step predictive finite memory control. In 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 (pp. 1769-1774). [8914197] (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics; Vol. 2019-October). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2019.8914197