Performance-guaranteed distributed control for multiple plant protection UAVs with collision avoidance and a directed topology
The urgent requirement for improving the efficiency of agricultural plant protection operations has spurred considerable interest in multiple plant protection UAV systems. In this study, a performance-guaranteed distributed control scheme is developed in order to address the control of multiple plan...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2022-09-01
|
| Series: | Frontiers in Plant Science |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fpls.2022.949857/full |
| _version_ | 1798031902560485376 |
|---|---|
| author | Hanqiao Huang Hantong Mei Tian Yan Bolan Wang Feihong Xu Daming Zhou |
| author_facet | Hanqiao Huang Hantong Mei Tian Yan Bolan Wang Feihong Xu Daming Zhou |
| author_sort | Hanqiao Huang |
| collection | DOAJ |
| description | The urgent requirement for improving the efficiency of agricultural plant protection operations has spurred considerable interest in multiple plant protection UAV systems. In this study, a performance-guaranteed distributed control scheme is developed in order to address the control of multiple plant protection UAV systems with collision avoidance and a directed topology. First, a novel concept called predetermined time performance function (PTPF) is proposed, such that the tracking error can converge to an arbitrary small preassigned region in finite time. Second, combined with the two-order filter for each UAV, the information estimation from the leader is generated. The distributed protocol avoids the use of an asymmetric Laplace matrix of a directed graph and solves the difficulty of control design. Furthermore, by introducing with a collision prediction mechanism, a repulsive force field is constructed between the dynamic obstacle and the UAV, in order to avoid the collision. Finally, it is rigorously proved that the consensus of the multiple plant protection UAV system can be achieved while guaranteeing the predetermined time performance. A numerical simulation is carried out to verify the effectiveness of the presented method, such that the multiple UAVs system can fulfill time-constrained plant protection tasks. |
| first_indexed | 2024-04-11T20:05:12Z |
| format | Article |
| id | doaj.art-daa76c6f19264924af4db35cdaaf4006 |
| institution | Directory Open Access Journal |
| issn | 1664-462X |
| language | English |
| last_indexed | 2024-04-11T20:05:12Z |
| publishDate | 2022-09-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Plant Science |
| spelling | doaj.art-daa76c6f19264924af4db35cdaaf40062022-12-22T04:05:23ZengFrontiers Media S.A.Frontiers in Plant Science1664-462X2022-09-011310.3389/fpls.2022.949857949857Performance-guaranteed distributed control for multiple plant protection UAVs with collision avoidance and a directed topologyHanqiao Huang0Hantong Mei1Tian Yan2Bolan Wang3Feihong Xu4Daming Zhou5Unmanned System Research Institute, Northwestern Polytechnical University, Xi'an, ChinaSchool of Astronautics, Northwestern Polytechnical University, Xi'an, ChinaUnmanned System Research Institute, Northwestern Polytechnical University, Xi'an, ChinaShanghai Electro-Mechanical Engineering Institute, Shanghai, ChinaUnmanned System Research Institute, Northwestern Polytechnical University, Xi'an, ChinaSchool of Astronautics, Northwestern Polytechnical University, Xi'an, ChinaThe urgent requirement for improving the efficiency of agricultural plant protection operations has spurred considerable interest in multiple plant protection UAV systems. In this study, a performance-guaranteed distributed control scheme is developed in order to address the control of multiple plant protection UAV systems with collision avoidance and a directed topology. First, a novel concept called predetermined time performance function (PTPF) is proposed, such that the tracking error can converge to an arbitrary small preassigned region in finite time. Second, combined with the two-order filter for each UAV, the information estimation from the leader is generated. The distributed protocol avoids the use of an asymmetric Laplace matrix of a directed graph and solves the difficulty of control design. Furthermore, by introducing with a collision prediction mechanism, a repulsive force field is constructed between the dynamic obstacle and the UAV, in order to avoid the collision. Finally, it is rigorously proved that the consensus of the multiple plant protection UAV system can be achieved while guaranteeing the predetermined time performance. A numerical simulation is carried out to verify the effectiveness of the presented method, such that the multiple UAVs system can fulfill time-constrained plant protection tasks.https://www.frontiersin.org/articles/10.3389/fpls.2022.949857/fullprescribed performancefinite-time boundednesscollision avoidanceplant protection UAVagriculture application |
| spellingShingle | Hanqiao Huang Hantong Mei Tian Yan Bolan Wang Feihong Xu Daming Zhou Performance-guaranteed distributed control for multiple plant protection UAVs with collision avoidance and a directed topology Frontiers in Plant Science prescribed performance finite-time boundedness collision avoidance plant protection UAV agriculture application |
| title | Performance-guaranteed distributed control for multiple plant protection UAVs with collision avoidance and a directed topology |
| title_full | Performance-guaranteed distributed control for multiple plant protection UAVs with collision avoidance and a directed topology |
| title_fullStr | Performance-guaranteed distributed control for multiple plant protection UAVs with collision avoidance and a directed topology |
| title_full_unstemmed | Performance-guaranteed distributed control for multiple plant protection UAVs with collision avoidance and a directed topology |
| title_short | Performance-guaranteed distributed control for multiple plant protection UAVs with collision avoidance and a directed topology |
| title_sort | performance guaranteed distributed control for multiple plant protection uavs with collision avoidance and a directed topology |
| topic | prescribed performance finite-time boundedness collision avoidance plant protection UAV agriculture application |
| url | https://www.frontiersin.org/articles/10.3389/fpls.2022.949857/full |
| work_keys_str_mv | AT hanqiaohuang performanceguaranteeddistributedcontrolformultipleplantprotectionuavswithcollisionavoidanceandadirectedtopology AT hantongmei performanceguaranteeddistributedcontrolformultipleplantprotectionuavswithcollisionavoidanceandadirectedtopology AT tianyan performanceguaranteeddistributedcontrolformultipleplantprotectionuavswithcollisionavoidanceandadirectedtopology AT bolanwang performanceguaranteeddistributedcontrolformultipleplantprotectionuavswithcollisionavoidanceandadirectedtopology AT feihongxu performanceguaranteeddistributedcontrolformultipleplantprotectionuavswithcollisionavoidanceandadirectedtopology AT damingzhou performanceguaranteeddistributedcontrolformultipleplantprotectionuavswithcollisionavoidanceandadirectedtopology |