Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS Middleware
In this paper formation control of Unmanned Aerial Vehicle System (UAVs) is introduced. L<sub>1</sub> controller with potential field technique and Data Distribution Service (DDS) middleware used for the navigation of the agents, which is multi-UAVs. L<sub>1</sub> adaptive co...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9022985/ |
| _version_ | 1818664034935767040 |
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| author | Sami El-Ferik Basem Almadani Siddig Mustafa Elkhider |
| author_facet | Sami El-Ferik Basem Almadani Siddig Mustafa Elkhider |
| author_sort | Sami El-Ferik |
| collection | DOAJ |
| description | In this paper formation control of Unmanned Aerial Vehicle System (UAVs) is introduced. L<sub>1</sub> controller with potential field technique and Data Distribution Service (DDS) middleware used for the navigation of the agents, which is multi-UAVs. L<sub>1</sub> adaptive controller used to stabilizing the general equations of motion of each UAVs and the potential field technique used to formalize the followers around the leader. The exchanging data between the leader and the followers done through publisher/subscriber DDS middleware. This L<sub>1</sub> controller has a high performance coming from a robust adaptation of it. Robustness of the L<sub>1</sub> controller verified using Matlab Simulation. The Lyapunov method provided the analysis and stability of the framework of UAVs. |
| first_indexed | 2024-12-17T05:26:20Z |
| format | Article |
| id | doaj.art-6e8d12ed81904c70ae82f40fce74dcf4 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-17T05:26:20Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-6e8d12ed81904c70ae82f40fce74dcf42022-12-21T22:01:51ZengIEEEIEEE Access2169-35362020-01-018442114421810.1109/ACCESS.2020.29780089022985Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS MiddlewareSami El-Ferik0https://orcid.org/0000-0001-5648-4786Basem Almadani1https://orcid.org/0000-0002-5875-154XSiddig Mustafa Elkhider2https://orcid.org/0000-0002-9814-9094Systems Engineering Department, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi ArabiaComputer Engineering Department, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi ArabiaSystems Engineering Department, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi ArabiaIn this paper formation control of Unmanned Aerial Vehicle System (UAVs) is introduced. L<sub>1</sub> controller with potential field technique and Data Distribution Service (DDS) middleware used for the navigation of the agents, which is multi-UAVs. L<sub>1</sub> adaptive controller used to stabilizing the general equations of motion of each UAVs and the potential field technique used to formalize the followers around the leader. The exchanging data between the leader and the followers done through publisher/subscriber DDS middleware. This L<sub>1</sub> controller has a high performance coming from a robust adaptation of it. Robustness of the L<sub>1</sub> controller verified using Matlab Simulation. The Lyapunov method provided the analysis and stability of the framework of UAVs.https://ieeexplore.ieee.org/document/9022985/Cooperative controlDDS middlewareleader-followersquality of serviceunmanned aerial vehicle system |
| spellingShingle | Sami El-Ferik Basem Almadani Siddig Mustafa Elkhider Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS Middleware IEEE Access Cooperative control DDS middleware leader-followers quality of service unmanned aerial vehicle system |
| title | Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS Middleware |
| title_full | Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS Middleware |
| title_fullStr | Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS Middleware |
| title_full_unstemmed | Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS Middleware |
| title_short | Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS Middleware |
| title_sort | formation control of multi unmanned aerial vehicle systems based on dds middleware |
| topic | Cooperative control DDS middleware leader-followers quality of service unmanned aerial vehicle system |
| url | https://ieeexplore.ieee.org/document/9022985/ |
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