Modeling and Flight Experiments for Swarms of High Dynamic UAVs: A Stochastic Configuration Control System with Multiplicative Noises
UAV Swarm with high dynamic configuration at a large scale requires a high-precision mathematical model to fully exploit its boundary performance. In order to instruct the engineering application with high confidence, uncertainties induced from either systematic measurement or the environment cannot...
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| Natura: | Articolo |
| Lingua: | English |
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MDPI AG
2019-07-01
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| Serie: | Sensors |
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| Accesso online: | https://www.mdpi.com/1424-8220/19/15/3278 |
| _version_ | 1828351572823769088 |
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| author | Hongbo Zhao Sentang Wu Yongming Wen Wenlei Liu Xiongjun Wu |
| author_facet | Hongbo Zhao Sentang Wu Yongming Wen Wenlei Liu Xiongjun Wu |
| author_sort | Hongbo Zhao |
| collection | DOAJ |
| description | UAV Swarm with high dynamic configuration at a large scale requires a high-precision mathematical model to fully exploit its boundary performance. In order to instruct the engineering application with high confidence, uncertainties induced from either systematic measurement or the environment cannot be ignored. This paper investigates the <inline-formula> <math display="inline"> <semantics> <mrow> <mi>I</mi> <mi>t</mi> <mover accent="true"> <mi>o</mi> <mo stretchy="false">^</mo> </mover> </mrow> </semantics> </math> </inline-formula> stochastic model of the UAV Swarm system with multiplicative noises. By combining the cooperative kinematic model with a simplified individual dynamic model of fixed-wing-aircraft for the first time, the configuration control model is derived. Considering the uncertainties in actual flight, multiplicative noises are introduced to complete the <inline-formula> <math display="inline"> <semantics> <mrow> <mi>I</mi> <mi>t</mi> <mover accent="true"> <mi>o</mi> <mo stretchy="false">^</mo> </mover> </mrow> </semantics> </math> </inline-formula> stochastic model. Following that, the estimator and controller are designed to control the formation. The mean-square uniform boundedness condition of the proposed stochastic system is presented for the closed-loop system. In the simulation, the stochastic robustness analysis and design (SRAD) method is used to optimize the properties of the formation. More importantly, the effectiveness of the proposed model is also verified using real data of five unmanned aircrafts collected in outfield formation flight experiments. |
| first_indexed | 2024-04-14T01:41:05Z |
| format | Article |
| id | doaj.art-16192a18be4d4ae1ba00f09e8bd05cb4 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T01:41:05Z |
| publishDate | 2019-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-16192a18be4d4ae1ba00f09e8bd05cb42022-12-22T02:19:45ZengMDPI AGSensors1424-82202019-07-011915327810.3390/s19153278s19153278Modeling and Flight Experiments for Swarms of High Dynamic UAVs: A Stochastic Configuration Control System with Multiplicative NoisesHongbo Zhao0Sentang Wu1Yongming Wen2Wenlei Liu3Xiongjun Wu4School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaScience and Technology on Information Systems Engineering Laboratory, Beijing Institute of Control & Electronics Technology, Beijing 100038, ChinaSchool of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, ChinaThe 802 Institute of Shanghai Academy of Space Flight Technology, The Eighth Academy of China Aerospace Science and Technology Corporation, Shanghai 200090, ChinaUAV Swarm with high dynamic configuration at a large scale requires a high-precision mathematical model to fully exploit its boundary performance. In order to instruct the engineering application with high confidence, uncertainties induced from either systematic measurement or the environment cannot be ignored. This paper investigates the <inline-formula> <math display="inline"> <semantics> <mrow> <mi>I</mi> <mi>t</mi> <mover accent="true"> <mi>o</mi> <mo stretchy="false">^</mo> </mover> </mrow> </semantics> </math> </inline-formula> stochastic model of the UAV Swarm system with multiplicative noises. By combining the cooperative kinematic model with a simplified individual dynamic model of fixed-wing-aircraft for the first time, the configuration control model is derived. Considering the uncertainties in actual flight, multiplicative noises are introduced to complete the <inline-formula> <math display="inline"> <semantics> <mrow> <mi>I</mi> <mi>t</mi> <mover accent="true"> <mi>o</mi> <mo stretchy="false">^</mo> </mover> </mrow> </semantics> </math> </inline-formula> stochastic model. Following that, the estimator and controller are designed to control the formation. The mean-square uniform boundedness condition of the proposed stochastic system is presented for the closed-loop system. In the simulation, the stochastic robustness analysis and design (SRAD) method is used to optimize the properties of the formation. More importantly, the effectiveness of the proposed model is also verified using real data of five unmanned aircrafts collected in outfield formation flight experiments.https://www.mdpi.com/1424-8220/19/15/3278stochastic systemUAV swarmconfiguration controlmultiplicative noisesdynamic modelstochastic robustness analysis and design |
| spellingShingle | Hongbo Zhao Sentang Wu Yongming Wen Wenlei Liu Xiongjun Wu Modeling and Flight Experiments for Swarms of High Dynamic UAVs: A Stochastic Configuration Control System with Multiplicative Noises Sensors stochastic system UAV swarm configuration control multiplicative noises dynamic model stochastic robustness analysis and design |
| title | Modeling and Flight Experiments for Swarms of High Dynamic UAVs: A Stochastic Configuration Control System with Multiplicative Noises |
| title_full | Modeling and Flight Experiments for Swarms of High Dynamic UAVs: A Stochastic Configuration Control System with Multiplicative Noises |
| title_fullStr | Modeling and Flight Experiments for Swarms of High Dynamic UAVs: A Stochastic Configuration Control System with Multiplicative Noises |
| title_full_unstemmed | Modeling and Flight Experiments for Swarms of High Dynamic UAVs: A Stochastic Configuration Control System with Multiplicative Noises |
| title_short | Modeling and Flight Experiments for Swarms of High Dynamic UAVs: A Stochastic Configuration Control System with Multiplicative Noises |
| title_sort | modeling and flight experiments for swarms of high dynamic uavs a stochastic configuration control system with multiplicative noises |
| topic | stochastic system UAV swarm configuration control multiplicative noises dynamic model stochastic robustness analysis and design |
| url | https://www.mdpi.com/1424-8220/19/15/3278 |
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