A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller

The purpose of this study is to offer an adaptive hybrid controller for the formation control of multiple unmanned aerial vehicles (UAVs) leader-follower configurations with communication delay. Although numerous studies about the control of the formation exist, very few incorporate the delay in the...

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Autores principales:	Zain Anwar Ali, Amber Israr, Eman H. Alkhammash, Myriam Hadjouni
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi-Wiley 2021
Materias:	Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/6ae5fdf1a8fa4b8f8106867f9b7f37a2
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id	oai:doaj.org-article:6ae5fdf1a8fa4b8f8106867f9b7f37a2
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spelling	oai:doaj.org-article:6ae5fdf1a8fa4b8f8106867f9b7f37a22021-11-22T01:10:16ZA Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller1099-052610.1155/2021/9231636https://doaj.org/article/6ae5fdf1a8fa4b8f8106867f9b7f37a22021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/9231636https://doaj.org/toc/1099-0526The purpose of this study is to offer an adaptive hybrid controller for the formation control of multiple unmanned aerial vehicles (UAVs) leader-follower configurations with communication delay. Although numerous studies about the control of the formation exist, very few incorporate the delay in their model and are adaptive as well. The motivation behind this article is to bridge that gap. The strategy consists of an adaptive fuzzy logic controller and a Proportional, Integral, and Derivative (PID) controller where the logic controller fines/tunes the PID controller gains. The controller also consists of an integrator that raises the order of the system which helps reduce the noise and steady-state errors. The simulations confirm that the proposed technique is robust and satisfies mission requirements. Moreover, the flying formations of the swarm were created by a B-spline curve based on a simple waypoint. The main contribution of this study is to present a model where the formation remains stable during the whole flight, errors are within the optimal range, and the time delays are manageable.Zain Anwar AliAmber IsrarEman H. AlkhammashMyriam HadjouniHindawi-WileyarticleElectronic computers. Computer scienceQA75.5-76.95ENComplexity, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Electronic computers. Computer science QA75.5-76.95
spellingShingle	Electronic computers. Computer science QA75.5-76.95 Zain Anwar Ali Amber Israr Eman H. Alkhammash Myriam Hadjouni A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller
description	The purpose of this study is to offer an adaptive hybrid controller for the formation control of multiple unmanned aerial vehicles (UAVs) leader-follower configurations with communication delay. Although numerous studies about the control of the formation exist, very few incorporate the delay in their model and are adaptive as well. The motivation behind this article is to bridge that gap. The strategy consists of an adaptive fuzzy logic controller and a Proportional, Integral, and Derivative (PID) controller where the logic controller fines/tunes the PID controller gains. The controller also consists of an integrator that raises the order of the system which helps reduce the noise and steady-state errors. The simulations confirm that the proposed technique is robust and satisfies mission requirements. Moreover, the flying formations of the swarm were created by a B-spline curve based on a simple waypoint. The main contribution of this study is to present a model where the formation remains stable during the whole flight, errors are within the optimal range, and the time delays are manageable.
format	article
author	Zain Anwar Ali Amber Israr Eman H. Alkhammash Myriam Hadjouni
author_facet	Zain Anwar Ali Amber Israr Eman H. Alkhammash Myriam Hadjouni
author_sort	Zain Anwar Ali
title	A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller
title_short	A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller
title_full	A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller
title_fullStr	A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller
title_full_unstemmed	A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller
title_sort	leader-follower formation control of multi-uavs via an adaptive hybrid controller
publisher	Hindawi-Wiley
publishDate	2021
url	https://doaj.org/article/6ae5fdf1a8fa4b8f8106867f9b7f37a2
work_keys_str_mv	AT zainanwarali aleaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT amberisrar aleaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT emanhalkhammash aleaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT myriamhadjouni aleaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT zainanwarali leaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT amberisrar leaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT emanhalkhammash leaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller AT myriamhadjouni leaderfollowerformationcontrolofmultiuavsviaanadaptivehybridcontroller
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A Leader-Follower Formation Control of Multi-UAVs via an Adaptive Hybrid Controller

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