Distributed backstepping based control of multiple UAV formation flight subject to time delays

DOI10.1049/iet-cta.2019.1151zbMath1544.9355MaRDI QIDQ6598792

Yusuf Barış Kartal, Frank L. Lewis, Nicholas Gans, Kamesh Subbarao, Atilla Dogan

Publication date: 5 September 2024

Published in: IET Control Theory \& Applications (Search for Journal in Brave)

zbMATH Keywords

stabilitylinear systemsadaptive controlstability criteriadirected graphdistributed controlstability criterionnonlinear control systemsmathematical modeldirected graphsdelaysmobile robotscommunication networkclosed-loop stabilityLyapunov methodsattitude controlcascade controlmultiple unmanned aerial vehiclesposition controlcontrol algorithmspropellersclosed loop systemsmulti-robot systemscontrol system synthesisdelay-independentautonomous aerial vehiclesLyapunov-Krasovskii analysisactual flight test experimentsbackstepping-based outer position controller designcascaded control systemcentralised formation controldistributed backstepping based controldistributed backstepping structuredistributed formation control methoddistributed network time delaysinner attitude controllerlinear attitude control loopmultiple UAV formation flightnonlinear position control loop

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Delay control/observation systems (93C43) Multi-agent systems (93A16)

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