6533b826fe1ef96bd1285313
RESEARCH PRODUCT
Trajectory Decentralized Fuzzy Control of Multiple UAVs.
Francesco Maria RaimondiMaurizio Mellusosubject
Lyapunov stabilityLyapunov functionAutomatic controlComputer scienceTrajectory Decentralized Fuzzy Control Multiple UAVFuzzy control systemMotion controlComputer Science::Multiagent SystemsComputer Science::Roboticssymbols.namesakeSettore ING-INF/04 - AutomaticaComputer Science::Systems and ControlControl theoryControl systemTrajectorysymbolsMotion planningdescription
This paper considers a complete position and heading rate control system for multiple unmanned aerial vehicles (UAVs) with constant altitude. A decentralized trajectory planning algorithm is proposed, where the UAVs will avoid collisions while moving. In order to stabilize the UAVs in the reference planned trajectories and ensure the boundedness of the control velocities, a fuzzy control law is proposed with Lyapunov's stability proof. Simulation experiments developed in Matlab environment confirm the effectiveness and the robustness of the proposed control algorithm with respect to possible turbulence disturbances perturbing the nominal motion of the UAVs.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2008-03-01 |