Description
Time-Critical Cooperative Control of Autonomous Air Vehicles presents, in an easy-to-read style, the latest research conducted in the industry, while also introducing a set of novel ideas that illuminate a new approach to problem-solving. The book is virtually self-contained, giving the reader a complete, integrated presentation of the different concepts, mathematical tools, and control solutions needed to tackle and solve a number of problems concerning time-critical cooperative control of UAVs.
By including case studies of fixed-wing and multirotor UAVs, the book effectively broadens the scope of application of the methodologies developed. This theoretical presentation is complemented with the results of flight tests with real UAVs, and is an ideal reference for researchers and practitioners from academia, research labs, commercial companies, government workers, and those in the international aerospace industry.
- Addresses important topics related to time-critical cooperative control of UAVs
- Describes solutions to the problems rooted in solid dynamical systems theory
- Applies the solutions developed to fixed-wing and multirotor UAVs
- Includes the results of field tests with both classes of UAVs
Chapter
Part I Time-Critical Cooperative Control: An Overview
1.2 Practical Motivation and Mission Scenarios
1.2.1 Cooperative Road Search
1.2.2 Sequential Auto-Landing
1.3.1 Path-Following Control
1.3.2 Coordinated Path-Following Control
1.3.3 Consensus and Synchronization in Networks
Proportional-Integral Consensus Protocols
2 General Framework for Vehicle Cooperation
2.2.1 Cooperative Trajectory Generation
Feasible Trajectory Generation for a Single Vehicle
Feasible Collision-Free Trajectory Generation for Multiple Vehicles
2.2.2 Single-Vehicle Path Following
2.2.3 Coordination and Communication Constraints
2.2.4 Autonomous Vehicles with Inner-Loop Autopilots
Part II Cooperative Control of Fixed-Wing Air Vehicles
3 3D Path-Following Control of Fixed-Wing Air Vehicles
3.1 Tracking a Virtual Target on a Path
3.2 Path-Following Control Law
3.2.1 Nonlinear Control Design at the Vehicle Kinematic Level
3.2.2 Stability Analysis with Non-ideal Inner-Loop Performance
3.3 Implementation Details
3.4 Simulation Example: Shaping the Approach to the Path
4 Time Coordination of Fixed-Wing Air Vehicles
4.2 Coordination Control Law
4.2.1 Speed Control at the Vehicle Kinematic Level
4.2.2 Convergence Analysis with Non-ideal Inner-Loop Performance
4.3 Combined Path Following and Time Coordination
4.3.1 Stability Analysis at the Kinematic Level
4.3.2 Stability Analysis with Inner-Loop Autopilots
4.4 Implementation Details
4.5.1 Path Following with Simultaneous Arrival
4.5.2 Sequential Auto-Landing
5 Meeting Absolute Temporal Specifications
5.1 Strict and Loose Absolute Temporal Constraints
5.2 Coordinating with a Virtual Clock Vehicle
5.2.1 Coordination Control Law
5.2.2 Stability Analysis at the Kinematic Level
5.3 Coordination with Loose Absolute Temporal Constraints
5.4 Illustrative Example: Sequential Auto-Landing with Predefined Arrival Windows
5.4.1 Transition Trajectories and Glide Slope
Loose Absolute Temporal Constraints
Strict Absolute Temporal Constraints
Relative Temporal Constraints
6 Time Coordination Under Quantization
6.1 Convergence with Quantized Information
6.1.1 Coordination Control Law and Coordination Dynamics
6.1.2 Krasovskii Equilibria
6.1.3 Stability Analysis at the Kinematic Level
6.1.4 Coordination with Fully Quantized Information
6.2 Simulation Example: Sequential Auto-Landing with Quantized Information
7 Time Coordination Under Low Connectivity
7.1 Local Estimators and Topology Control
7.1.2 Coordination Control Law and Link-Weight Dynamics
7.2 Simulation Example: Sequential Auto-Landing Under Severely Limited Communication
8 Flight Tests: Cooperative Road Search
8.1 Road Search with Multiple Small Autonomous Air Vehicles
8.1.1 Airborne System Architecture
8.1.2 Flight-Test Results
Part III Cooperative Control of Multirotor Air Vehicles
9 3D Path-Following Control of Multirotor Air Vehicles
9.1.1 6-DoF Model for a Multirotor UAV
9.1.2 Virtual Target and Virtual Time
9.1.3 Path-Following Error
9.2 Path-Following Control Law
9.3 Simulation Example: Following a Virtual Target
10 Time Coordination of Multirotor Air Vehicles
10.1 Coordination States and Maps
10.2 Coordination Control Law
Ideal Communications - Ideal Path Following
Range-Based Communications - Ideal Path Following
Range-Based Communications - Non-Ideal Path Following
11 Flight Tests of Multirotor UAVs
11.1 System Architecture and Indoor Facility
11.2.1 Phase on Orbit Coordination
11.2.2 Spatial Coordination Along One Axis
11.2.3 Additional Flight Tests
Part IV Final Considerations
12 Summary and Concluding Remarks
Cooperative Trajectory Generation
Coordination Under Communication Constraints
12.3 Cooperative Control in Future Airspace Scenarios
A Mathematical Background
A.2 Nonlinear Stability Theory
A.2.1 Lipschitz Functions, Existence and Uniqueness of Solutions
A.2.3 The Invariance Principle
A.2.4 Nonautonomous Systems
A.2.6 Input-to-State Stability
A.3.3 Algebraic Graph Theory
B.1 Proofs and Derivations in Part I
B.1.1 The Coordination Projection Matrix
B.2 Proofs and Derivations in Part II
B.2.1 Time-Derivative of the Coordination States
B.2.2 Closed-Loop Coordination Error Dynamics
Proof of Inequality (B.22)
B.2.7 Proof of Theorem 4.1
B.2.8 Proof of Theorem 4.2
B.2.10 Proof of Proposition 6.1
B.2.11 Proof of Theorem 6.1
B.2.12 Proof of Lemma 6.2
B.3 Proofs and Derivations in Part III
Proof of Inequality (B.85)
B.3.4 Proof of Theorem 10.1
B.3.5 Proof of Corollary 10.1
Time-Critical Cooperative Control of Autonomous Air Vehicles
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