3D Formation Control of Autonomous Vehicles Based on Null-Space

Authors
Rosales, Claudio Dario; Leica Arteaga, Paulo Cesar; Sarcinelli Filho, Mario; Scaglia, Gustavo Juan Eduardo; Carelli Albarracin, Ricardo Oscar
Publication Year
2016
Language
English
Format
article
Status
Published version
Description
This paper proposes a new algorithm for controlling a formation of multiple autonomous aerial vehicles based on multiple control objectives. The strategy includes using the null space of a Jacobian matrix to achieve the different control objectives in a non-conflicting way. The mission is split into two elementary tasks, with suitable command references generated for each robot. The commands for each task are combined through a hierarchical method by using the projection of commands onto the null space. The incorporation of ground vehicles in the control scheme is also considered, thus extending the proposed scheme for controlling heterogeneous formations. The stability analysis of the control system shows that such a system is asymptotically stable, and experimental results validate the proposed control system.
Fil: Rosales, Claudio Dario. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Leica Arteaga, Paulo Cesar. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Sarcinelli Filho, Mario. Universidade Federal do Espírito Santo; Brasil
Fil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Subject
AERIAL FORMATION CONTROL
NULL SPACE
QUADROTOR
Ingeniería de Sistemas y Comunicaciones
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
INGENIERÍAS Y TECNOLOGÍAS
Access level
Restricted access
License
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repository
CONICET Digital (CONICET)
Institution
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identifier
oai:ri.conicet.gov.ar:11336/61776