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

Hyun Ho Kang; Sang Su Lee; Choon Ki Ahn

doi:10.1109/SMC.2019.8914197

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

Hyun Ho Kang, Sang Su Lee, Choon Ki Ahn

School of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1769-1774
Number of pages	6
ISBN (Electronic)	9781728145693
DOIs	https://doi.org/10.1109/SMC.2019.8914197
Publication status	Published - 2019 Oct
Event	2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 - Bari, Italy Duration: 2019 Oct 6 → 2019 Oct 9

Publication series

Name	Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume	2019-October
ISSN (Print)	1062-922X

Conference

Conference	2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019
Country	Italy
City	Bari
Period	19/10/6 → 19/10/9

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

Access to Document

10.1109/SMC.2019.8914197

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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

Distributed control for multiple unmanned aerial vehicles with one-step predictive finite memory control. / Kang, Hyun Ho; Lee, Sang Su; Ahn, Choon Ki.

2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1769-1774 8914197 (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics; Vol. 2019-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kang, HH, Lee, SS & Ahn, CK 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., 8914197, Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, vol. 2019-October, Institute of Electrical and Electronics Engineers Inc., pp. 1769-1774, 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019, Bari, Italy, 19/10/6. https://doi.org/10.1109/SMC.2019.8914197

Kang HH, Lee SS, Ahn CK. 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. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1769-1774. 8914197. (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics). https://doi.org/10.1109/SMC.2019.8914197

Kang, Hyun Ho ; Lee, Sang Su ; Ahn, Choon Ki. / Distributed control for multiple unmanned aerial vehicles with one-step predictive finite memory control. 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1769-1774 (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics).

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