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Distributed Collision-Free Bearing Coordination of Multi-UAV Systems With Actuator Faults and Time Delays

Wu, Kefan; Hu, Junyan; Li, Zhenhong; Ding, Zhengtao; Arvin, Farshad

Distributed Collision-Free Bearing Coordination of Multi-UAV Systems With Actuator Faults and Time Delays Thumbnail


Authors

Kefan Wu

Zhenhong Li

Zhengtao Ding



Abstract

Coordination of unmanned aerial vehicle (UAV) systems has received great attention from robotics and control communities. In this paper, we investigate the distributed formation tracking problem in heterogeneous nonlinear multi-UAV networks via bearing measurements. Firstly, a novel bearing-only protocol is designed for follower agents to achieve the desired formation. Particularly, we establish a compensation function on the basis of bearing measurements to deal with the non-linearity and actuator faults in the agent dynamics. The stability of the proposed strategy can be ensured by Lyapunov method in the presence of certain time delays. Moreover, to ensure safe operation in real-world scenarios, we extend the protocol and propose a sufficient condition to avoid potential collisions among the agents. The robustness of the collision-free controller with continuous action is also considered in the protocol design. Finally, the simulation case studies are presented to validate the feasibility of the theoretical results.

Citation

Wu, K., Hu, J., Li, Z., Ding, Z., & Arvin, F. (2024). Distributed Collision-Free Bearing Coordination of Multi-UAV Systems With Actuator Faults and Time Delays. IEEE Transactions on Intelligent Transportation Systems, 1-14. https://doi.org/10.1109/tits.2024.3364356

Journal Article Type Article
Acceptance Date Feb 5, 2024
Online Publication Date Feb 23, 2024
Publication Date Feb 23, 2024
Deposit Date Apr 8, 2024
Publicly Available Date Apr 10, 2024
Journal IEEE Transactions on Intelligent Transportation Systems
Print ISSN 1524-9050
Electronic ISSN 1558-0016
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Pages 1-14
DOI https://doi.org/10.1109/tits.2024.3364356
Keywords Computer Science Applications; Mechanical Engineering; Automotive Engineering
Public URL https://durham-repository.worktribe.com/output/2379781

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