Abstract
A team of unmanned aerial vehicles (UAVs) in surveillance operations aims to achieve fast deployments, robustness against uncertainties and adversaries, and adaptability when the team expands or reduces. All these must be achieved under time-varying and local communication connections. This paper introduces a new framework for UAV control based on the emerging consensus control for networked systems. Due to unique features of UAV tasks, the consensus control problem becomes weighted and constrained, beyond the typical consensus formulation. Using only neighborhood communications among UAV members, the consensus control achieves global desired deployment. Algorithms are introduced and their convergence properties are established. It is shown that the algorithms achieve asymptotically the Cramér-Rao lower bound, and hence is asymptotically optimal among all algorithms. Examples and case studies demonstrate convergence, robustness, and scalability of the algorithms.
This research was supported in part by the Air Force Office of Scientific Research under FA9550-10-1-0210.
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Wang, L.Y., Yin, G. (2013). Weighted and Constrained Consensus Control with Performance Optimization for Robust Distributed UAV Deployments with Dynamic Information Networks. In: Fahroo, F., Wang, L., Yin, G. (eds) Recent Advances in Research on Unmanned Aerial Vehicles. Lecture Notes in Control and Information Sciences, vol 444. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37694-8_7
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DOI: https://doi.org/10.1007/978-3-642-37694-8_7
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